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--- doc:lps:firmware [2017-12-18 15:10]
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-In order for the LPS to work the Crazyflie 2.0 STM32 firmware needs to use the Kalman estimator, which is not included in the stock firmware. You can either download a specific pre-built binary ([[https://github.com/bitcraze/crazyflie-release/releases|releases]]) or by building your own from source.
-====== Building Crazyflie 2.0 STM32 firmware with Kalman ======
-  * Follow the instructions for installing the toolchain and compiling from the [[https://github.com/bitcraze/crazyflie-firmware/blob/master/README.md|repository readme]]
-  * Before making the firmware edit the tools/make/config.mk file to include the following: <code>ESTIMATOR = kalman</code>
-  * Build the firmware <code>make clean
-make
-make cload</code>

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