Creating Custom Flight Controller Firmware
November 18, 2025
15 min read
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Core Components
Sensor fusion, PID controllers, motor mixing, RC input.
Main Loop
readSensors, calculateAttitude, runPID, mixMotors, outputPWM.
Safety Systems
Failsafe detection, low battery cutoff, range limits, crash detection.
Testing
Bench test without props, gradual flight testing, log data.