pro-flight

Flight control software written in rust, aims to provide more convenience for developers and better OSD experience for users.

Why pro-flight?

There are some popular flight-control software like Betaflight, INAV, PX4 and ardupilot, which is indeed mature and stable, while programming language they're using is C/C++ which is a bit of outdated, and besides:

• all of them provides an ugly OSD
• Betaflight and INAV is written in C, and codestyle is not very good
• PX4 and ardupilot uses RTOS for concurrency, but with async and interrupt based thread RTOS is no longer nessesary, and we'll achieve minimum latency
• being lack of package manager their repository is huge, full filled with self made wheels

In conclusion, I want to customize my own flight-control software while not willing to use C/C++.

Here's a sample OSD output:

Progress

Implemented

• Component
  • [x] IMU
  • [x] Logger
  • [x] YAML-like config
  • [x] software interrupt based event
• FCS
  • [x] PWM & ESC
  • [x] PID
  • [x] Law protection
• INS
  • [x] Displacement integral
  • [x] Complementary filter
• IO
  • [x] USB console serial
  • [x] DMA buffer descriptor
• OSD
  • [x] MAX7456 (With XMODEM font upload)
  • [x] Telemetry page for troubleshooting
• Sensor
  • [x] MPU6000
  • [x] Gyroscope/Accelerometer
  • [x] Battery Voltage ADC
  • [x] Barometer
• protocol
  • [x] SBUS Receiver
  • [x] GNSS NMEA Protocol
  • [x] GNSS UBX Protocol
• misc
  • [x] Simulator

WIP

• AP
  • [ ] Auto-throttle
  • [ ] Waypoint navigation with failsafe

Future

• AP
  • [ ] HDG/ALT hold, ALT hold
• IO
  • [ ] SDCARD read & write
  • [ ] DMA based SDCARD read & write
• logging
  • [ ] Blackbox
• driver
  • [ ] Magnetometer
  • [ ] DMA based I2C
  • [ ] QMC5883L
• INS
  • [ ] More reliable calibration
  • [ ] Extended kalman filter
• protocol
  • [ ] Mavlink
• misc
  • [ ] Camera distortion adaption

Priority map

Framework

graph LR
    subgraph Sensors
        Accelerometer
        Gyroscope
        Magnetometer
        style Magnetometer stroke-dasharray: 5 5
        Barometer
        GNSS
    end
    Accelerometer -->|"Acceleration(RAW)"| IMU
    Gyroscope -->|"Gyro(RAW)"| IMU
    Magnetometer -.-> |Magnetism| IMU
    GNSS -->|Heading/Course| IMU
    Barometer -->|Pressure| Altimeter
    subgraph INS
        Speedometer --> Positioning
    end
    IMU -->|"Acceleration(CAL)<br/>Attitude"| Speedometer
    GNSS -->|datetime| System-clock
    GNSS -->|V/S<br/>G/S| Speedometer
    GNSS -->|Coordinate| Positioning
    Altimeter -->|Altitude| Variometer
    Altimeter -->|Altitude| Positioning
    Variometer -->|V/S| Speedometer
    subgraph FCS
        PIDs --> Servos
    end
    RC -->|Input| PIDs
    IMU -->|"Gyro(CAL)"| PIDs