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and ardupilot, which is indeed mature and stable, while programming language they're using is C/C++ which is a bit of outdated, and besides: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
  • IMU
  • Logger
  • YAML-like config
  • software interrupt based event
• FCS
  • PWM & ESC
  • PID
  • Law protection
• INS
  • Displacement integral
  • Complementary filter
• IO
  • USB console serial
  • DMA buffer descriptor
• OSD
  • MAX7456 (With XMODEM font upload)
  • Telemetry page for troubleshooting
• Sensor
  • MPU6000
  • Gyroscope/Accelerometer
  • Battery Voltage ADC
  • Barometer
• protocol
  • SBUS Receiver
  • GNSS NMEA Protocol
  • GNSS UBX Protocol
• misc
  • 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

Priority	Module
Systick	Software interrupts
Immediate	Serial RX, ESC and Servo
Sensor	USART DMA and Sensor Interrupt
System	SPI/I²C DMA
Telemtry	OSD
Main	LED/CLI

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

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