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+---
+layout: datasheet-base
+title: Crazyflie 2.1+
+sku: 114993295
+version: 1
+status: active
+---
+
+{% datasheet_intro CF21_plus_585px.jpg; %}
+The Crazyflie 2.1+ version of the successful Crazyflie 2.X development platform comes with upgraded battery and propellers for a up to 15% improved flight performance. Together with an extensive ecosystem of software and deck expansions it's ideal for education, research and swarming.
+{% enddatasheet_intro %}
+
+## Introduction
+
+The Crazyflie 2.1+ is a versatile open source flying development platform that only weighs 27g and fits in the palm of your hand.
+Crazyflie 2.1+ is equipped with low-latency/long-range radio as well as Bluetooth LE. This gives you the option of downloading
+our app and using your mobile device as a controller or, in combination with the Crazyradio 2.0, using your computer to display
+data and fly with a game controller.
+
+## 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
+
+## 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
+
+## IMU specification
+
+* 3 axis accelerometer / gyroscope (BMI088)
+* High precision pressure sensor (BMP388)
+
+## 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
+
+## Expansion connector specification
+
+The expansion connector is used to attach decks with additional functionality. Either official Bitcraze decks
+can be used or custom ones can be design using our KiCad template.
+
+The expansion connector includes the following:
+
+* VCC 3.0V (max 100mA)
+* GND
+* VCOM (unregulated VBAT or VUSB, max 1A)
+* VUSB (both for input and output)
+* I2C (400kHz)
+* SPI
+* 2 x UART
+* 4 x GPIO/CS for SPI
+* 1-wire bus for expansion identification
+* 2 x GPIO connected to nRF51
+
+Please note the following:
+
+* The Crazyflie 2.1+ is a 3.0V system, meaning a high output will be 3.0V but still compatible with a 3.3V system.
+* All IO pins are 5V tolerant except PA5 and the NRF51 pins
+* The NRF51 pins can be multiplexed with any of the available NRF51 peripheral.
+* The STM32F405RG pins can be multiplexed with more functions.
+
+### Expansion connector multiplexing
+
+{% datasheet_img Mechanical drawing; large; center; crazyflie_2_1-deck-connector-multiplex.png; %}
+
+## Mechanical specifications
+
+* Takeoff weight: 27g
+* Size (WxHxD): 92x92x29mm (motor-to-motor and including motor mount feet)
+
+## Mechanical drawing
+
+{% datasheet_img Mechanical drawing; medium; center; crazyflie_2_1-measurements.png; %}
+
+## Package contents
+
+The Crazyflie 2.1+ is delivered as a kit that contains the following parts:
+
+* 1 x Crazyflie 2.1 control board
+* 1 x 250mAh LiPo battery ([spare part](https://bitcraze.myshopify.com/collections/spare-parts-crazyflie-2-0/products/250mah-lipo-battery))
+* 5 x 7mm DC coreless motor (1 spare) ([spare part](https://bitcraze.myshopify.com/collections/spare-parts-crazyflie-2-0/products/4-x-7-mm-dc-motor-pack-for-crazyflie-2))
+* 6 x 7mm motor mounts (2 spare) ([spare part](https://bitcraze.myshopify.com/collections/spare-parts-crazyflie-2-0/products/crazyflie-2-0-4-x-spare-7-mm-motor-mounts))
+* 1 x Foam battery pad
+* 5 x CCW propellers (3 spare) ([spare part](https://bitcraze.myshopify.com/collections/spare-parts/products/propeller-47-17-black))
+* 5 x CW propellers (3 spare) ([spare part](https://bitcraze.myshopify.com/collections/spare-parts/products/propeller-47-17-black))
+* 1 x Battery holder deck ([spare part](https://bitcraze.myshopify.com/collections/spare-parts-crazyflie-2-0/products/battery-holder-deck))
+* 2 x Short male deck connectors ([spare part](https://bitcraze.myshopify.com/collections/spare-parts-crazyflie-2-0/products/male-deck-connector))
+* 2 x Long male deck connectors ([spare part](https://bitcraze.myshopify.com/collections/spare-parts-crazyflie-2-0/products/male-deck-connector))
+* 1 x micro-USB cable (48cm) ([spare part](https://bitcraze.myshopify.com/collections/accessories/products/micro-usb-cable-48cm))
+
+## Errata
+
+## Hardware revisions
+
+| Revision | Comment |
+| ------- | ------- |
+| B1 | Initial release |
+
+## History
+
+| Version | Comment | Date |
+| ------- | ------- | ---- |
+| 1 | Initial release, originates from Crazyflie 2.1 rev 3 with a few updates | 2024-06-19 |
+
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