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===== Introduction =====
In this topic we will try to describes the crazyflie firmware architecture. It's base is the real time operating system [[http://www.freertos.org|FreeRTOS]] which runs different tasks such as radio communication, stablilzation, power management, etc.

===== Block diagrams =====

{{:projects:crazyflie:firmware:stabilization_system.png?900|}}


{{:projects:crazyflie:firmware:control_system.png?|}}