After a basic porting of the FreeRTOS to the KL26z a first try to reverse the Crazyflie source was very successful. So the controlling part was implemented very fast and thus I could focus on the parameter and logging system of the Crazyflie. While the logging system is explained on the wiki page of the Crazyflie the parameter system had to be interpreted from source... but it turns out that this pretty easy as it has a very nice structure. So with a working logging and parameter system I finally could focus on the hardware. Since the quick & dirty set-up with the FRDM Board is hardly a long term solution, I had to come up with a better hardware. My main focus at this point was the thrust-stick, as I wasn't happy with the Joystick used for the first set-up. Its desire to go into the centre made it hard to control the height of the Crazyflie. So I was hoping to modify the Joystick to have a hold desire... unfortunately this was not possible due to its structure. So again I was searching for an alternative Stick. I checked many joysticks and was really frustrated by the fact that a more-or-less good stick would cost a lot and further more I had to build a case for my remote control! So my search went from a single Joystick to a whole remote control that could be partially reused. It truns out that the Devo 7 can be bought for less than 20$. It features two solid joysticks which will be sufficient for this project and further several switches as well as an LCD-Display. In other words: It was just perfect for this project.