This repository documents the design of an FPGA-based expansion board for the Crazyflie drone platform, featuring an AMD Xilinx Artix-7 100T FPGA and developed in KiCad.
The board was developed to support the acceleration of linear Model Predictive Control (MPC) execution onboard the Crazyflie quadrotor platform.
The board was designed and used 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
Deck_FPGA.kicad_sch: KiCad schematicDeck_FPGA.kicad_pcb: KiCad PCB layoutDeck_FPGA.kicad_pro: KiCad project fileDeck_FPGA.pdf: exported board documentationplot/: fabrication outputs / Gerbers
This project was inspired by the board presented in FPGA-Based Neural Thrust Controller for UAVs by Sharif Azem, David Scheunert, Mengguang Li, Jonas Gehrunger, Kai Cui, Christian Hochberger, and Heinz Koeppl (2024).
- FPGA accelerator implementation: https://github.com/A2R-Lab/ADMM_FPGA
- Crazyflie firmware integration repository: https://github.com/A2R-Lab/crazyflie_fpga_firmware
