External projects
There are a few external projects that are based on Bitcraze hardware and/or software. We usually do not provide support for these projects but we have collected a few links to help any one that is interested.
Disclamer
These projects may or may not be actively maintained. We do not take any responsibility for the functionality or compatibility in any way.
Crazyflie firmware
Alternate firmware implementations for the Crazyflie
Crazyradio firmware
Alternate firmware implementations and uses for the Crazyradio
| NRF research firmware from Bastille Research | https://github.com/BastilleResearch/nrf-research-firmware | |
| MouseJack device discovery and research tools | https://github.com/BastilleResearch/nrf-research-firmware |
Crazyflie simulators
Projects aimed to modeling, developing and integrating the Crazyflie 2.x nano-quadcopter in simulated environments.
| CrazySim | Crazyflie SITL simulation with Gazebo for MPC control for a decentralized swarm | https://github.com/gtfactslab/Llanes_ICRA2024 |
| Sim_CF2 | The ROS2 upgrade of the Sim_CF project | https://github.com/CrazyflieTHI/sim_cf2 |
| LamdaFlight | A minimal SITL for Haskell to be used for webots | https://github.com/simondlevy/LambdaFlight |
| Webots | Webots has a model of the Crazyflie 2.x | https://www.cyberbotics.com/doc/guide/crazyflie |
| CrazyS | The University of Sannio in Benevento, Italy, has implemented a software-in-the-loop simulation platform for simulating Crazyflie behavior in the Gazebo 3D simulation environment. | https://github.com/gsilano/CrazyS |
| gym-pybullet-drones | A Gym environment based on PyBullet to simulate the dynamics and learn the control of Crazyflie 2.x nano-quadcopters. | https://github.com/JacopoPan/gym-pybullet-drones |
| Nvidia Isaac | Crazyflie 2.x simulation in Nvidia Isaac | https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/reference_assets.html#crazyflie |
| Rviz Simulator | Crazyflie 2.0 Simulation in Rviz | https://github.com/malintha/multi_uav_simulator/tree/crazyflie |
| Sim_cf | Crazyflie HITL and SITL simulation with Gazebo and ROS | https://github.com/wuwushrek/sim_cf |
Swarming
Projects aiming at supporting swarms. They might also be useful for controlling single Crazyflies.
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The IMRClab at TU Berlin has implemented a ROS 2 package to handle large swarms of Crazyflies. This is the successor of Crazyswarm(1) | https://imrclab.github.io/crazyswarm2/ |
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The ACT lab at USC has implemented a ROS 1 library to handle large swarms of Crazyflies. | https://crazyswarm.readthedocs.io/en/latest/ |
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A Crazyflie control packages (deprecated, use Crazyswarm instead) | https://github.com/whoenig/crazyflie_ros |
| Crazyserver | A server exposing a REST API to control a swarm of Crazyflies. Written in Go. | https://github.com/mikehamer/crazyserver |
| LaMoucheFolle | Cross-platform OSC server for controlling multiple Crazyflies 2.x | https://github.com/benkuper/LaMoucheFolle |
Connectivity libraries
Libraries for connecting to the Crazyflie written in various languages. They are usually implementing functionality similar to the Bitcraze python library.
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aiocflib with async friendly API | https://github.com/skybrush-io/aiocflib |
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C++ library used in Crazyswarm 1 and 2 | https://github.com/whoenig/crazyflie_cpp |
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https://github.com/fredg02/se.bitcraze.crazyflie.lib | |
 JavaScript |
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https://github.com/michaelgira23/swarms |
| JavaScript |
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https://github.com/ceejbot/aerogel |
| JavaScript |
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https://github.com/brianneisler/crazyflie |
| JavaScript |
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https://github.com/hybridgroup/cylon-crazyflie |
| JavaScript |
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https://cylonjs.com/documentation/platforms/crazyflie/ |
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https://github.com/ckarcz/CrazyflieDotNet | |
 Ruby |
https://github.com/hsanjuan/crubyflie | |
| Ruby |
https://github.com/hybridgroup/artoo-crazyflie | |
| Ruby |
https://www.rubydoc.info/gems/hybridgroup-crubyflie | |
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https://github.com/fairlight1337/libcflie | |
 Haskel |
https://github.com/orclev/crazyflie-haskell | |
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https://github.com/triplepoint/ScalaCrazyflie |
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