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minifly

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bfmhno3 / minifly-fc

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A complete quadcopter flight controller running on the STM32F411CEUx (Cortex-M4F, 96 MHz), with cascaded PID control, sensor fusion, radio/USB telemetry, and a hot-pluggable expansion module system. Originally based on the Alientek (正点原子) MiniFly open-source project (2017), fully restructured for modern tooling and maintainability.

c cmake drone gcc stm32f4 stm32cubemx minifly
  • Updated May 9, 2026
  • C

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