I am working on a blimp project,it has no trust vectoring. Instead has reverse trust directions speed controllers for each motor up/down forward/backward and Yow. There is no roll axis. I wander if there is some APM/Pix4 template firmware for blimps developed already or some way to customize it which does not involve computer programming/code writing?

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I am also on to the same project and now that i have seen this i also think i need the firmware at some point.

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Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

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