Auto-assembled, not yet reviewed

Crazyflie 2.1+

Palm-sized open-source development quadcopter from Bitcraze, with hardware docs, firmware and a simulation model.

No repository license
nano drone4 DoF
cost not published

Reproducibility50/100Early source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed

Crazyflie 2.1+ 4-DoF nano drone, 3D render from crazyflie_body.xacro

full robot 3D · crazyflie_body.xacro

Source record

Sources: bitcraze/hardware @7ffff76
bitcraze/crazyflie-simulation @7e93752
bitcraze/crazyflie-firmware @e2fdc21
33 stars, last push 2026-09-30
HW license: No repository license
Cost: not published
Lifecycle: Active
Engine: v3.1.1
Checked: 2026-10-01
Model: crazyflie_body.xacro@7e93752rendered 2026-06-08
Envelope: 109 × 66 × 76 mmas modelled, default pose

Maintain Crazyflie 2.1+? Claim this page to correct it.

Crazyflie 2.1+ reproducibility score

How confidently this design builds into a working robot, from what its sources publish: each criterion's points, quality tier and evidence.

missingCAD / mesh presentno CAD or mesh found0/20
Quality tier 0 of 3
The engine found nothing to point at for this item.
partialBOM evidenceReviewedDatasheet 'Package contents' lists the 11 kit parts with quantities (motors, mounts, propellers, battery); it is a kit contents list, not a sourcing BOM, and the engine missed it as a bullet list.10/20
Quality tier 2 of 5
Reviewed override, 2026-09-30
Evidence on github.com
Engine alone: missing at tier 0 (no BOM found)
metWiring diagram24 wiring/schematic diagrams (image or PDF)15/15
Quality tier 2 of 3
metFirmware linkedfirmware source in the repo10/10
Quality tier 3 of 3
metBuild instructionsReviewedOfficial getting-started guide has 9 assembly steps (motors, mounts, propellers, battery), each with an embedded video clip, plus a propeller diagram; the engine does not open external guides.15/15
Quality tier 3 of 3
Reviewed override, 2026-09-30
Evidence on bitcraze.io
Engine alone: partial at tier 1 (external build guide linked, not inspected by the engine)
- guide on bitcraze.io, not inspected by the engine
missingOSHW-compatible licenseno hardware license detected0/10
Quality tier 0 of 2
The engine found nothing to point at for this item.
missingKnown reproductionsno verified builds yet0/10
Quality tier 0 of 2
Only build reports a maintainer or admin has reviewed count here.

Engine v3.1.1 at 7ffff76, 2 items reviewed by hand

The engine found no license file for the hardware in the hardware source.

How this score is computed

About Crazyflie 2.1+

Crazyflie 2.1+ is Bitcraze's 29 g palm-sized quadcopter development platform for education, research and swarming. The official hardware datasheet documents the STM32F405 flight MCU, nRF51822 radio and power MCU, BMI088 IMU, BMP388 pressure sensor, 250 mAh LiPo, 7 mm motors, propellers, expansion connector and kit contents. The 3D view uses the low-resolution Crazyflie 2.1 meshes from Bitcraze's MIT-licensed crazyflie-simulation repository.

Licenses

Hardware: No repository licensethe hardware repo has none; simulation assets are MIT and firmware is GPL-3.0
Software: Not published
Docs: Not published

Degrees of freedom

4 DoF

No per-group breakdown has been sourced yet.

QuadcopterNano dronesource

How to build Crazyflie 2.1+

4 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

Assemble the kit hardware
Run the USB power-on self-test, then press four of the 7 mm motors into the motor mounts, push the mounts onto the arms and plug in the motor connectors. Fit the propellers, battery holder deck and battery pad, and connect the 250 mAh LiPo.
Motari summarybitcraze.io/documentation/tutorials/getting-started-with-cra...
Charge and connect
Charge the stock LiPo through the onboard micro-USB charger, then connect over Bluetooth LE or a Crazyradio-compatible link.
Upstream stepgithub.com/bitcraze/hardware/blob/7ffff76f9f04326c7d54f34252...
Flash or update firmware
Use Bitcraze Crazyflie firmware and clients for wireless firmware updates, logging, parameter setting, and flight control.
Upstream stepgithub.com/bitcraze/hardware/blob/7ffff76f9f04326c7d54f34252...
Add expansion decks
Use the expansion connector for official or custom decks; the connector provides VCC, GND, VCOM, VUSB, I2C, SPI, UART, GPIO/CS, and 1-wire identification.
Upstream stepgithub.com/bitcraze/hardware/blob/7ffff76f9f04326c7d54f34252...

Print timenot published

Assembly time"Assembling your Crazyflie will probably take less than 10 minutes"

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

Crazyflie 2.1+ bill of materials

10 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

Crazyflie 2.1+ parts, as the source lists them (read 2026-06-08). Prices are the source's, not checked against vendors.

Crazyflie 2.1+ bill of materials
Part	Qty	Spec	Source	Confidence
Crazyflie 2.1 control boardMain assembled Crazyflie 2.1+ board included in the official kit.	1	STM32F405 main MCU, nRF51822 radio/power MCU, BMI088 IMU, BMP388 pressure sensor, expansion connector, onboard LiPo charger	Bitcraze kit contentsincluded in kit; catalog total not verifiedbitcraze/hardware Crazyflie 2.1+ datasheet index.md package contents and features at commit 7ffff76	high
250 mAh LiPo batteryOfficial package content row; stock battery flight time is listed as 7 minutes.	1	250 mAh LiPo battery; stock charging time 40 minutes	Bitcraze spare part / kit contentsincluded in kit; spare-part link listed in datasheetbitcraze/hardware Crazyflie 2.1+ datasheet index.md lines 47-48 and 103 at commit 7ffff76	high
7 mm DC coreless motorsKit includes one spare motor beyond the four installed motors.	5	7 mm DC coreless motor; four used on the quadcopter plus one spare	Bitcraze spare part / kit contentsincluded in kit; spare-part link listed in datasheetbitcraze/hardware Crazyflie 2.1+ datasheet index.md line 104 at commit 7ffff76	high
7 mm motor mountsKit includes two spare motor mounts beyond the four installed mounts.	6	7 mm motor mounts; four used plus two spare	Bitcraze spare part / kit contentsincluded in kit; spare-part link listed in datasheetbitcraze/hardware Crazyflie 2.1+ datasheet index.md line 105 at commit 7ffff76	high
CCW propellersOfficial kit contents list three spare CCW propellers.	5	Counter-clockwise propellers; two used plus three spare	Bitcraze spare part / kit contentsincluded in kit; spare-part link listed in datasheetbitcraze/hardware Crazyflie 2.1+ datasheet index.md line 107 at commit 7ffff76	high
CW propellersOfficial kit contents list three spare CW propellers.	5	Clockwise propellers; two used plus three spare	Bitcraze spare part / kit contentsincluded in kit; spare-part link listed in datasheetbitcraze/hardware Crazyflie 2.1+ datasheet index.md line 108 at commit 7ffff76	high
Battery holder deckOfficial package content row.	1	Battery holder deck for the Crazyflie 2.x platform	Bitcraze spare part / kit contentsincluded in kit; spare-part link listed in datasheetbitcraze/hardware Crazyflie 2.1+ datasheet index.md line 109 at commit 7ffff76	high
Deck connectorsGrouped from short and long male deck connector package rows.	4	2 short male deck connectors and 2 long male deck connectors	Bitcraze spare part / kit contentsincluded in kit; spare-part link listed in datasheetbitcraze/hardware Crazyflie 2.1+ datasheet index.md lines 110-111 at commit 7ffff76	high
Foam battery padOfficial package content row.	1	Foam battery pad	Bitcraze kit contentsincluded in kit; separate price not listedbitcraze/hardware Crazyflie 2.1+ datasheet index.md line 106 at commit 7ffff76	high
micro-USB cableOfficial package content row.	1	48 cm micro-USB cable	Bitcraze spare part / kit contentsincluded in kit; spare-part link listed in datasheetbitcraze/hardware Crazyflie 2.1+ datasheet index.md line 112 at commit 7ffff76	high

Rows from the source's own parts list 3

src/products/crazyflie-2_1_plus/datasheet/index.md@7ffff76markdown

Source row	Qty	Price and vendor	Line
Crazyflie 2.1+ platform specifications	1 platform	Bitcrazeno price listed	L10
Crazyflie 2.1+ package contents	source-listed kit quantities	Bitcrazeno price listed	L91

src/products/crazyflie-2_1_plus/electronics/crazyflie_2.1_schematics_rev.b.pdf@7ffff76pdf

Source row	Qty	Price and vendor	Line
Crazyflie 2.1 schematic source	1 schematic PDF	Bitcrazeno price listed	L1

Crazyflie 2.1+ source files

6 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

Crazyflie 2.1+ in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

URDFcrazyflie_ws/src/crazyflie_description/urdf/crazyflie_body.xacrobitcraze/crazyflie-simulation

The 3D specimen on this page is converted from crazyflie_ws/src/crazyflie_description/urdf/crazyflie_body.xacro at 7e93752.

Builds of Crazyflie 2.1+

0 reviewed

No reviewed builds of Crazyflie 2.1+ yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Hardwaregithub.com/bitcraze/hardware7ffff76
Documentationgithub.com/bitcraze/hardware/blob/master/src/products/crazyf...7ffff76
Simulationgithub.com/bitcraze/crazyflie-simulation7e93752
Build guidebitcraze.io/documentation/tutorials/getting-started-with-cra...
Softwaregithub.com/bitcraze/crazyflie-firmwaree2fdc21

Last push to bitcraze/hardware: 2026-09-30 (checked 2026-10-01)

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: Crazyflie 2.1+ datasheet and simulation visual reviewed 2026-06-08.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain Crazyflie 2.1+? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Markdown

[![Motari reproducibility score for Crazyflie 2.1+](https://motari.io/api/v1/badge/crazyflie)](https://motari.io/r/crazyflie)

HTML

<a href="https://motari.io/r/crazyflie"><img src="https://motari.io/api/v1/badge/crazyflie" alt="Motari reproducibility score for Crazyflie 2.1+" height="20"></a>

Not fully met yet: cad / mesh present, bom evidence (partial), oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed

About Crazyflie 2.1+

Licenses

Degrees of freedom

How to build Crazyflie 2.1+

Assemble the kit hardware

Charge and connect

Flash or update firmware

Add expansion decks

Crazyflie 2.1+ bill of materials

Cost to build

Rows from the source's own parts list 3

Crazyflie 2.1+ source files

Crazyflie 2.1+ in simulation

Builds of Crazyflie 2.1+

Sources and provenance

Sources

Related links

How this page was made

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Badge for the README