FreeFly

Project Structure

- System
  - BSP
  - CMSIS
  - FWLIB
- ucos2
  - Cfg
  - Ports
  - Source
- Application
  - Hardware
  - SystemView
  - main.c
- build
- STM32F401RETx_FLASH.ld
- CMakeLists.txt
- arm-none-eabi-gcc.cmake
- README.md

Notes

• port ucOS-II OS to STM32F401RE.
• adopt Madgwick filter to estimate attitude.
• use cascade PID controller in flight.

TODOs

• change os_cpu_a.s from armcc to gcc version.
• sensor calibration
• attitude estimation algorithm
• pid controller
• add camera and more...