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Z-ranger expansion deck

Adds the possibility to fly with precise height control. Using the ToF sensor VL53L0x the Crazyflie 2.0 can measure the distance from the sensor to a ground object at up two 2 meters.


  • VL53L0x ToF sensor to measure distance up to 2 meters.
  • 1-wire memory for automatic expansion deck detection
  • Designed for mounting under the Crazyflie 2.0
  • Mechanical specification:
    • Weight: 1.6g
    • Size (WxHxD): 21x28x4mm


Z-ranger expansion deck schematic


The Z-ranger deck will be automatically detected when it is mounted. To activate precise height control press the AltHold button on the gamepad and release the thrust. This will “lock” the height as the Crazyflie 2.0 goes into automatic height control. The up and down commands will then controls the desired height instead of thrust.

Limitations: The sensor can measure distances up to 2 meters but often fails at distances above 1.5m. I case of failed readings the Crazyflie 2.0 will slowly descend until reaching a height where measurements are reliable.

Note: Currently the mobile clients does not support this functionality!

projects/crazyflie2/expansionboards/zranger.1489497193.txt.gz · Last modified: 2017-03-14 14:13 by tobias