Firmware

###Current State

• New hardware
• New attitude estimator
• Position and velocity controller (GPS)
• Altitude controller (barometer)
• Heading controller (magnetometer)
• Developing Note

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Stabilization

Altitude Control Performance

We used this to control hybrid gasoline-electric multirotor too!

License

• The lineoise is copyrighted under BSD license and release by antirez

• FreeRTOS itself is licensed under a modified GPL with two exception. Please refer this website to get more information.

• STM32F4 DSP and standard peripherals library is licensed under MCD-ST Liberty SW License Agreement V2

• CMSIS and DSP library are licensed under CMSIS End User License Agreement

• Detailed license file can be found in LICENSE.

• The UrsusPilot firmware is released as MIT License and welcome to send any feedback to us!