Getting started with the Crazyflie 2.0

近段时间以来, 我一直在逐步启动安装属于自己的小型四旋翼无人机. 该网站提供了丰富的关于无人机安装的经验分享. 通过实际操作积累的经验进行无人机安装, 并且特别关注于其电子电路板（PCB）上的引脚配置设置. 具体的安装步骤可以通过观看官方发布的视频演示来进一步了解. 链接如下:

https://www.bitcraze.io/getting-started-with-the-crazyflie-2-0/

1, 开箱包括的器件（Unpacking）

The Crazyflie 2.0 packet contains the following items, make sure that you have all of them before you start assembling.
（1）1 x Crazyflie 2.0 control board with all components mounted
（2）5 x CW propellers
（3）5 x CCW propellers
（4）6 x Motor mounts
（5）1 x LiPo battery (240mAh)
（6）5 x Coreless DC motors
（7）2 x Short expansion connector pins (1×10, 2mm spacing, 8 mm long)
（8）2 x Long expansion connector pins (1×10, 2mm spacing, 14 mm long)
（9）1 x Battery holder expansion board

2, 开始装配之前测试（Testing）

Prior to commencing any assembly, execute the self-test by ensuring the Crazyflie 2.0 is being connected to a uUSB power source. The LEDs labeled M1 and M4 will indicate the outcome of the test. If and only if the M4 LED blinks GREEN five times rapidly, then the test has successfully passed.

（2）如果自检失败，则M1小LED快速闪烁红色五次后短暂停顿并重复此过程。请访问我们的支持论坛获取帮助。

注意：关于M1 M4 LED的位置，从下面的图中可以看到。

3, 装配（Assembing）

参考https://www.bitcraze.io/getting-started-with-the-crazyflie-2-0/

4, 螺旋桨和性能（Propeller and Performance）

Here's a detailed explanation of how to attach the propellers to the Crazyflie 2.0. When manufacturing spiral props, balancing is crucial as vibrations from their operation can negatively impact flight stability and sensor accuracy, making the drone seem "nervous" (difficult to control). Additionally, excessive noise from poorly balanced propellers can disrupt navigation. Therefore, achieving proper balance is essential for optimal performance. For comprehensive guidance on balancing spiral props, we recommend consulting our detailed tutorial: balancing the propellers.

The center of mass plays an important role in determining an object's performance as well. When it's well-balanced, it will soar upward vertically (vertically). Proper placement of the battery in a balanced position is essential for optimal functionality. Testing this involves grasping the device's two protruding features with your fingertip; if balanced, they should align horizontally without wobbling. If not, gently adjust the battery's position forward or backward until stability is achieved.

5,开始飞行（Getting into the air）

Prior to engaging with your Crazyflie 2.0 system, it's advisable to consult our user guide for guidance on powering it on and off, as well as understanding the significance of its LED indicators.

欢迎光临 Crazyflie 2.0！该款设备支持蓝牙 LE 以及 Crazyradio 和 Crazyradio PA 的通信功能。如果你希望在移动设备上使用该设备，请下载我们的 iPhone 应用或 Android 应用。或者如果你更倾向于使用电脑，则下载我们的 <Crazyflie PC 客户端> 来记录数据、调整参数或通过游戏板或 Joystick 飞行。

5,自己开发（Developing）

For those interested in leveraging Crazyflie 2.0 for development purposes, we recommend visiting our developer wiki page at http://wiki.bitcraze.se/projects:crazyflie2:development:index "Crazyflie 2.0 developer wiki". This resource provides comprehensive guidance on setting up your environment. Additionally, a highly effective starting point is our virtual machine solution, which already includes pre-installed development environments. By downloading and installing the software, starting it within your preferred VM manager, and you'll be ready to begin developing immediately.

如果希望独立开发项目，则可以通过他们的Wiki查阅到VirtualBox提供的虚拟机VM0.6版本。安装后可以直接通过VirtualBox启动并导入使用。接着，在虚拟机环境中进行编译操作，并下载必要的组件以融入自己的代码。最后，请参考附图了解crazyflie2.0扩展接口的具体实现流程：