Assembly and flight test 7-2

     The Crazyflie Nano Quadcopter is a miniature quadcopter that fits in hand. It only weights about 19 grams and is 9 cm motor-to-motor.

     Here’are the specifications of the Crazyflie Nano Quadcopter 10-DOF version:

• Small and lightweight, around 19g and about 90mm motor to motor
• Flight time up to 7 minutes with standard 170mAh Li-Po battery
• Standard micro-USB connector for charging which takes ~20min for the stock 170mAh Li-Po battery
• On-board low-energy radio@1mW based on the nRF24L01+ chip. Up to 80m range (environment dependent) when using the Crazyradio USB dongle
• Radio bootloader which enabled wireless update of the firmware
• Powerful 32 bit MCU: STM32F103CB @ 72 MHz (128kb flash, 20kb RAM)
• 3-axis high-performance MEMs gyros with 3-axis accelerometer: Invensense MPU-6050
• Expansion header 2×10 pins 1.27mm (0.05”) pitch including power, I2C/UART, SPI/ADC. Header also contains ARM Cortex 10-pin JTAG (header not included)
• 4-layer low noise PCB design with separate voltage regulators for digital and analog supply

• 3-axis magnetometer HMC5883L (compass)
• High precision altimeter MS5611-01BA03

     Since it is design with 4-layer low noise PCB, it is hard to get solder out if it is stuck in soldering holes. It was a lesson learned in soldering the motors on :)
 

      The first flight test for crazyflie on July 2nd. Before this test, DroidMote was used for controlling with an android device. However, it depends on wifi network too much, so it was given up. In this test, Crazyflie was controlled by an xbox controller with PC Crazyflie-client. Due to that the controller is not tuned, crazyflie could not flies stably as expected but is tend to move to one direction.