Source code of the firmware running in the Crazyflie 2.0 nRF51822. This microcontroller have a couple of roles:

  • Power management (ON/OFF logic and battery handling)
  • Radio communication
    • Enhanced Shockburst compatible with Crazyradio (PA)
    • Bluetooth low energy using the Nordic Semiconductor S110 stack
  • One-wire memory access

Compiling with bluetooth support requires the nRF51_SDK and S110 packages.


will download the zips and unpack them. If you want to download manually from the Nordic semiconductor website, you will find the details in nrf51_sdk/readme and s110/readme.


Most of the code is licensed under LGPL-3.0.

Some files under src/ble/ are modified from Nordic semiconductor examples.