crazyflie_fpga_firmware

This repository contains an out-of-tree Crazyflie firmware application that interfaces with an external FPGA over SPI to run the flight controller off-board from the STM32 control loop.

The project targets the Bitcraze Crazyflie platform and provides the firmware-side integration needed to exchange state data with the FPGA, receive motor commands asynchronously, and deploy the controller on the quadrotor.

Project Information

This work was developed within the master's thesis:

Hardware-Algorithm Co-Design for Real-Time Linear Model Predictive Control. FPGA Implementation and Deployment on a Resource-Constrained Quadrotor

Author: Andrea Grillo
Period: 2025-2026

Build and Flash

Refer to the official Crazyflie documentation for the standard out-of-tree firmware build and flashing workflow used by this project:

• https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/building-and-flashing/

Repository Contents

• src/: firmware sources for the FPGA controller, SPI communication layer, and FPGA deck support
• app-config: out-of-tree application configuration used during Crazyflie firmware builds
• crazyflie-firmware/: bundled Crazyflie firmware tree used as the build base
• Kbuild: top-level build integration for the out-of-tree application
• Makefile: entry point for building and flashing the firmware

Related Repositories

• FPGA controller repository: ADMM_FPGA
• FPGA deck hardware repository: Crazyflie_FPGA_Deck
• Base Crazyflie firmware repository: crazyflie-firmware