Above is a video of the first un-tethered flight of the CrazyFlie using ArduPilot. The port was done primarily by Sid with help from Tridge. We think this is the smallest quadcopter that ArduPilot has flown on so far.
Fitting ArduPilot on such a small board is possible because of the recent work to move ArduPilot to run on ChibiOS which improves loop timing and frees up a fair bit of memory, CPU and code size. You can watch Tridge’s talk on the un-conference re ChibiOS here.
According to Tridge, the port itself was quite straight forward but it was a real challenge getting the telemetry and controls working over the somewhat unusual CrazyRadio protocol.
Nicely done Tridge and Sid!