CogniFly
Based on published sources · Not tested by us ·
License: MIT · no license identified for mechanical design · Details by part
Overview
Sub-250 g collision-resilient quadcopter with a bamboo or carbon-rod frame joined by printed TPU parts, an INAV flight controller and a Raspberry Pi Zero W controlled through the MIT-licensed cognifly-python library; no license file was identified for the frame files. [S003] [S006] [S008]
CogniFly, from The CogniFly Project started at MISTLab, is a quadcopter built to keep flying after collisions: 3 mm wooden sticks or carbon rods join flexible printed TPU parts that absorb impacts. A Raspberry Pi Zero W acts as the pilot, commanding an INAV flight controller over a serial link. The website ties the sub-250 g target to Canadian rules that, in March 2019, harshly restricted drones above 250 g. [S003] [S008]
It suits researchers and educators who want a Python-scriptable onboard computer and can print TPU and PLA parts, solder and configure INAV. [S003] [S005] [S006]
Specifications
| Detail | Description |
|---|---|
| Type | Quadcopter with a flexible exoskeleton-style frame of 3 mm sticks or rods joined by TPU parts; Version 2 bamboo build weighs 237 g Reported by source [S003] [S008] · Checked 2026-10-05 |
| Intended users | Researchers and educators able to 3D print TPU and PLA parts, solder flight electronics and configure INAV and a Raspberry Pi Editorial assessment [S003] [S005] [S008] · Checked 2026-10-05 |
| Assembly | Step-by-step Version 2 instructions for printing, frame, electronics and integration; TPU joints take about 8 hours per drone to print and PLA parts at least two prints of about 4 hours. Reported by source [S003] [S004] · Checked 2026-10-05 |
| Calibration | INAV accelerometer and optical-flow calibration on a level surface Reported by source [S005] · Checked 2026-10-05 |
| Operating system | Not known |
| Computer needed | Raspberry Pi Zero W onboard; a remote computer for INAV configuration and Python control Reported by source [S003] [S006] · Checked 2026-10-05 |
3D preview
Preview not available yet. Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Model sources
Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Assembly and use
Pick one configuration before buying
The repository documents two builds. The root README lists the paper configuration: 1104 6000KV motors with 3025 propellers, a Kakute F7 Mini V2 flight controller, a 4-in-1 ESC and a 3S 650 mAh battery. The Version 2 instructions in the Latest folder use XING2 1404 3000KV motors, 4024 propellers, a JHEMCU GHF420 board combining flight controller and ESC, a Matek optical-flow and lidar sensor, a Raspberry Pi Camera V2 and a 2S 2000 mAh LiPo. This profile follows Version 2 as documented in the untagged January 31, 2023 commit; current part availability and compatibility were not established. [S001] [S003]
Version 2 reports 237 g with bamboo sticks, and 246 to 255 g with carbon rods depending on materials. The carbon option can exceed 250 g. Upstream reports a 17-minute flight from one long position-hold test, from 8.4 V down to 6.6 V. TPU joints take about 8 hours per drone to print, plus at least two PLA prints of about 4 hours. [S003] [S004]
What the published total covers
Table 2 totals CAD 407.90 for one drone with the Raspberry Pi Zero and no AIY Vision Kit, from Canadian supplier links dated 2021. Its motor row lists quantity 4 but only CAD 20.50 for one drone, so it is unclear whether all four motors are priced; confirm that row before relying on the total. It includes whole filament spools and two batteries, and falls to CAD 300.55 per drone when building five. It excludes shipping (except the Raspberry Pi order), tools, a battery charger and a gamepad, which the cognifly-python README recommends for manual control; taxes are not stated. Upstream warns the Raspberry Pi Zero W and Matek sensor can be hard to find. Treat it as a dated estimate, not a quote. [S003] [S004] [S006]
Firmware, software and licenses
Setup flashes a prebuilt cognifly_framework.hex from a cognifly-python release with INAV configurator 2.3.2, loads a CLI configuration, tests motors with propellers removed and calibrates the accelerometer and optical flow. The README links a CogniFly fork of INAV, which was not preserved or inspected here. Upstream suggests checking for shorts with a multimeter before connecting the battery, and wearing safety glasses. [S001] [S004] [S005] [S007]
For Python control, flash the project's Raspberry Pi image or Raspberry Pi OS, install the cognifly package on both the Pi and the remote computer, and run cognifly-controller on the drone. [S006] [S007]
The cognifly-python library is MIT-licensed. No license file was identified for the CogniFly-STL frame files or build instructions, so frame reuse rights are unresolved. No build, flashing or flight was performed for this profile. [S002] [S006]
Cost
| Version | Price |
|---|---|
| CogniFly Version 2, Raspberry Pi Zero W configuration without AIY Vision Kit (upstream Table 2) | CAD 407.90 [S003] [S004] Parts estimate |
Canada (supplier links dated 2021) · Checked 2026-10-05
| Included | Sticks, TPU and PLA filament; Four XING2 1404 motors and propellers; JHEMCU GHF420 FC/ESC; Matek optical flow and lidar; Raspberry Pi Zero W, camera V2, cable and SD card; Two 2S 2000 mAh batteries; Screws, wire, tape, hot glue |
|---|---|
| Not included | Shipping except the separately shipped Raspberry Pi; Taxes not stated; Tools including 3D printer and soldering iron; Battery charger and gamepad not listed; Optional AIY Vision Bonnet or Coral board |
| Stock | Upstream warns links may change and the Raspberry Pi Zero W and Matek sensor can be hard to find; not re-quoted. |
| Delivery and tax | Upstream says prices exclude shipping apart from the Raspberry Pi; taxes not stated. |
Price details
Upstream Table 2 total for one drone using Canada 2021 supplier links; whole filament spools, two batteries and multi-packs are priced in full. Upstream unit total falls to CAD 300.55 per drone for five drones. Its motor row lists quantity 4 but only CAD 20.50, so it is unclear whether all four motors are priced; the total may be low. Not a current quote.
Canada (supplier links dated 2021) · Checked 2026-10-05 · Quantity 1
Tools, charger, controller and shipping must be added.
Source files and licenses
Printable frame files and build instructions are public without an identified license; the Python control library is MIT. Covered as partial-source research with frame reuse rights unresolved.
| Layer | Availability / license |
|---|---|
| mechanical design | available · No license identified STL files for Version 2 TPU/PLA parts plus earlier versions. No license file identified in the inspected CogniFly-STL sources. Some earlier folders also include STEP/SAT files. [S002] [S003] |
| electronics | not found · License not fully assessed Uses purchased FC/ESC, sensor and Raspberry Pi boards; no custom electronics design files identified. Wiring is described in the build instructions. [S003] |
| firmware | available · License not fully assessed Version 2 flashes a prebuilt cognifly_framework.hex from a cognifly-python release; README links an INAV fork (CogniFly branch). Neither the hex nor the fork source was preserved or inspected; GitHub repository metadata shows a GPL-3.0 hint for the fork, unverified here. [S001] [S005] |
| software | available · MIT cognifly-python v0.3.3 LICENSE file: MIT License, Copyright (c) 2021 The CogniFly Project. Raspbian image release asset not preserved. [S006] |
| documentation | available · License not fully assessed Build instructions and README in CogniFly-STL. No license file identified in the inspected CogniFly-STL sources. cognifly-python documentation sits under that repository's MIT LICENSE. [S001] [S003] |
Optional AIY Vision Kit or Coral neural-network add-ons are outside the selected base build.
No dataset is part of the selected build.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · The CogniFly Project (MISTLab contributors)
CogniFly-STL README (paper configuration and caveats)
Accessed 2026-10-05 · README.md at 64856403a5a75d0eb1932ae7ba9444652acd5b4aSource notes
Original paper-configuration BOM (1104 motors, Kakute F7 Mini, 3S 650 mAh), INAV fork link, assembly caveats.
- S002 · The CogniFly Project (MISTLab contributors)
CogniFly-STL revision metadata and Latest folder inventory
Accessed 2026-10-05 · 64856403a5a75d0eb1932ae7ba9444652acd5b4a; commit snapshot, no published release; Latest/ member listSource notes
Selected commit, dates, popularity signals, no GitHub license hint, files in Latest/.
- S003 · The CogniFly Project (MISTLab contributors)
Building Instructions (Version 2): overview and BOM tables 1-2
Accessed 2026-10-05 · Latest/readme.md from "# Building Instructions (Version 2)" to Table 3Source notes
Version 2 configuration, 237 g bamboo weight, 17-minute reported flight, parts and Canada 2021 prices for the Raspberry Pi Zero configuration.
- S004 · The CogniFly Project (MISTLab contributors)
Building Instructions (Version 2): price notes, print times and safety
Accessed 2026-10-05 · Latest/readme.md price/shipping notes and safety precaution paragraphSource notes
Price exclusions, supplier availability caveats, print time and safety suggestions.
- S005 · The CogniFly Project (MISTLab contributors)
Building Instructions (Version 2): INAV setup
Accessed 2026-10-05 · Latest/readme.md "## Software setup" through INAV stepsSource notes
INAV configurator 2.3.2, cognifly_framework.hex and configuration from cognifly-python v0.0.4 release, motor-test and calibration steps.
- S006 · The CogniFly Project (MISTLab contributors)
cognifly-python README and license (release v0.3.3)
Accessed 2026-10-05 · README.md and LICENSE at 52648e5ad7ee8898d1b78922953dc4d4a07293f4 (tag v0.3.3)Source notes
Python control library for remote and onboard control; MIT License.
- S007 · The CogniFly Project (MISTLab contributors)
cognifly-python drone setup instructions
Accessed 2026-10-05 · readme/DRONE_SETUP.mdSource notes
Flight controller flashing and Raspberry Pi image setup.
- S008 · The CogniFly Project (MISTLab contributors)
The CogniFly Project website
Accessed 2026-10-05 · Home page snapshot sha256 510866376921315bSource notes
Project purpose, sub-250 g rationale linked to Canadian regulations, hardware concept, publications.
Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5
Change history
2026-10-05 — Initial intake from CogniFly-STL snapshot, cognifly-python v0.3.3 and project website (Growbotics comparison lead verified against upstream).