Effortless Motion Capture Integration
with NOKOV and Crazyflie-Crazyswarm

Hardware & Software

TYPE	COMPONENTS
Hardware	Comprises the NOKOV motion capture system, Crazyfile drones, and Crazyradio wireless communication module, supporting multi-drone communication and control. It includes a universal hardware interface for user expansion and development.
Software	Consists of ROS packages and Python scripts for drone control, simulation, and data analysis. It offers Python API/ROS/Matlab interfaces to streamline the development of formation flying capabilities.
Specifications
Features	Durable design Easy to assemble and no soldering required Supports expansion decks with automatic detection Supports flying from iOS and Android with Bluetooth LE, as well as from Windows/Mac OSX/Linux with the Crazyradio, Crazyradio PA or Crazyradio 2.0 Tested to further than 1 km radio range line-of-sight (LOS) with the Crazyradio PA Wireless firmware updates On-board charging via standard uUSB Dual-MCU architecture with dedicated radio/power management SoC for advanced applications Real-time logging, graphing and variable setting in addition to full use of expansion decks when using a Crazyradio or Crazyradio PA and a computer
Mechanical specifications	Takeoff weight: 27g Size (WxHxD): 92x92x29mm (motor-to-motor and including motor mount feet)
Onboard microcontrollers	STM32F405 main application MCU (Cortex-M4, 168MHz, 192kb SRAM, 1Mb flash) nRF51822 radio and power management MCU (Cortex-M0, 32Mhz, 16kb SRAM, 128kb flash) micro-USB connector On-board LiPo charger with 100mA, 500mA and 980mA modes available Full speed USB device interface Partial USB OTG capability (USB OTG present but no 5V output) 8KB EEPROM
Flight specifications	Flight time with stock battery: 7 minutes Charging time with stock battery: 40 minutes Max recommended payload weight: 15 g
Radio specification	2.4GHz ISM band radio Increased range with 20 dBm radio amplifier, tested to > 1 km range LOS with Crazyradio PA (environmentally dependent) Bluetooth Low Energy support with iOS and Android clients available Dual antenna support with both on board chip antenna and U.FL connector