Development with the CrazyFlie (Use PX4?)

Hi all,

I am a graduate student working on projects involving quadcopters of all sized. I have used ArduPilot and PX4 for general flight and mission planning for years, but am beginning to begin some development in the code, primarily adding a new controller.

I am reaching out because I am planning to work with the PX4 architecture and apply it to the CrazyFlie. I looked into the CrazyFlie developer information, but I think I would rather go with PX4 since I have experience with it already and it is geared towards larger UAVs as well.

Does anyone have an opinion on this? Who has worked with PX4 on the CrazyFlie? Are there any issues that I need to be aware of?

Thank you all.