NinjaFlight

An even cleaner version of cleanflight flight-controller. Flight controllers are used to fly multi-rotor craft and fixed wing aircraft.

IMPORTANT: if you are building from source code then do not use "master" branch. Instead use a tagged release.

Latest release: 1.16.10 (Codename: "Panic In The Sewers")

This fork differs from cleanflight in that it introduces SITL (software in the loop) support that is able to simulate the flight controller in a simulated physics environment powered by Bullet physics. It also adds support for tilted motor quads and uses modern development practices to simplify maintainability and improve quality of the firmware.

This is done by:

• Using code coverage to write better unit tests (aiming at 100% coverage for all code).
• Using object oriented design in C with minimal use of static/global data
• Separating modules into as small modules as possible each of which can be unit tested separately.
• Testing on SITL, through unit tests and on real hardware in parallel to achieve greater robustness.

New in NinjaFlight

• Fully portble flight controller. New system call interface separating hardware drivers from flight controller code. Docs
• SITL (software in the loop) simulator. New features can be simulated on your desktop. Sitl runs the whole flight controller - including the scheduler.
• All new features unit tested. Older code is gradually being unit tested as well.
• New config interface that saves only deltas to EEPROM. Flash erases are kept to a minimum and only happen once a page is full. Delta writes mean that eeprom can potentially be smaller than the config because users rarely modify every single variable in the configuration.
• Unified mixer (no separation between servo and motor mixer). Rules are the same and much easier to set up. Mixer uses a set of input groups that you can mix in a custom mixer (idea borrowed from px4 autopilot).
• Morse beeper. You can program it like a telegraph. Old functionality with static beeps and beep priorities is kept as well for maximum flexibility.

SITL

Simulator is an integral part of the development cycle. It is however located in a separate repo and requires some data files to work (notably pak0.pk3 from quake3). Main makefile can already download the necessary files for you.

To build and run the sitl on linux you can do the following:

make start-sitl

Features

• Multi-color RGB LED strip support (each LED can be a different color using variable length WS2811 addressable RGB strips - use for orientation indicators, low battery warning, flight mode status, etc.).
• Oneshot ESC support.
• Blackbox flight recorder logging (to onboard flash or external SD card).
• Support for additional targets that use the STM32F3 processors (baseflight only supports STM32F1).
• Support for the Seriously Pro Racing F3 board (STM32F303, I2C sensors, large flash, excellent I/O.).
• Support for the TauLabs Sparky board (STM32F303, I2C sensors, based board with acc/gyro/compass and baro, ~$35).
• Support for the OpenPilot CC3D board (STM32F103, board, SPI acc/gyro, ~$20).
• Support for the CJMCU nano quadcopter board.
• Support for developer breakout boards: (Port103R, EUSTM32F103RC, Olimexino, STM32F3Discovery).
• Support for more than 8 RC channels - (e.g. 16 Channels via FrSky X4RSB SBus).
• Support for N-Position switches via flexible channel ranges - not just 3 like baseflight or 3/6 in MultiWii.
• Lux's new PID (uses float values internally, resistant to looptime variation).
• Simultaneous Bluetooth configuration and OSD.
• Better PWM and PPM input and failsafe detection than baseflight.
• Better FrSky Telemetry than baseflight.
• LTM Telemetry.
• Smartport Telemetry.
• RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II and X8R.
• OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc.
• In-flight manual PID tuning and rate adjustment.
• Rate profiles and in-flight selection of them.
• Graupner PPM failsafe.
• Graupner HoTT telemetry.
• Multiple simultaneous telemetry providers.
• Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
• And many more minor bug fixes.

Ninjaflight also supports:

• SITL simulation support
• Tilted propeller racing drones with dynamic and static tilting. Throttle compensation and yaw/roll compensation is also supported.

Most popular supported boards

NAZE

CJMCU

CC3D

DODO

Sparky

SPRacingEVO

SPRacingF3

Colibri Race

Lux Race

Olimexino

Installation

See: Installation.md

Documentation

See: docs folder

If what you need is not covered, check the Cleanflight documentation.

In many ways currently ninjaflight works exactly like cleanflight so a lot of things are already covered by cleanflight documentation (although this may change as the project evolves).

Configuration Tool

To configure Ninjaflight you can use the Cleanflight-configurator GUI tool (Windows/OSX/Linux).

The source for it is here:

https://github.com/cleanflight/cleanflight-configurator

Contributing

Contributions are welcome and encouraged. You can contribute in many ways:

• Documentation updates and corrections.
• How-To guides - Received help? Help others!
• Bug fixes.
• New features.
• Telling us your ideas and suggestions.

The best place to start is the IRC channel on freenode (see above), drop in, say hi. Next place is the github issue tracker:

https://github.com/mkschreder/ninjaflight/issues

And also:

https://github.com/mkschreder/ninjaflight/issues https://github.com/cleanflight/cleanflight-configurator/issues

Before creating new issues please check to see if there is an existing one, search first otherwise you waste peoples time when they could be coding instead!

See CONTRIBUTING.md

Acknowlegements

Every single person who has contributed to this project over time (see AUTHORS file).