Hi All!
I'm working on madflight, a new DIY friendly flight controller for RP2040 / ESP32 / STM32 microcontrollers using the Arduino IDE. A fight tested release can be downloaded from Github:
https://github.com/qqqlab/madflight
The project is under heavy development, but the main components are working: IMU sensor fusion, PID control, radio control and telemetry, barometer and GPS. Converted Betaflight config files allow the code to run on most commercial flight controllers.
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