TrustFlight

A flight controller firmware you can trust!

Aim

The aim of this project is twofold, 1) I am looking to learn Rust and how its borrow checker can be applied in embedded design to constrain and guide, while 2) I want to compare Rust vs latest C++, especially in the metaprogramming functionality when it comes to enforcing constraints at compile time.

From a practical perspective this is mostly a complete rewrite/redesign of the old KFly code into Rust, with better modularization and less complexity.

Layout

In the trustflight folder is the main firmware, while in trustflight-hal is the low-level code for talking to the hardware, including abstrations, aka the HAL.

Features

• Runs the cortex-m-rtfm scheduler, practically the same as crect (C++ version)
• Minimal communication overhead to a high level flight computer via COBS ZPE/ZRE together with priority buffers to minimize delay and jitter
• All communication is designed to be DMA driven, no CPU intervention needed
• Adaptive notch filters to reduce impact of vibrations (similar to Betaflight's dynamic filter)
• Modern sensor suite
  • ST's ISM330DLC IMU - with heater to temperature stabilize the sensor
  • Bosch's BMP388 barometer
• Support for the latest protocols
  • F.port for RC input and telemetry to the pilot
  • DShot motor protocol with telemetery at about 200 Hz per motor
• Has accompanying reference hardware (OSHW) available here
  • Has (soon) a board trait to allow for simple support of other hardware platforms

Contributors

List of contributors in alphabetical order:

• Emil Fresk (@korken89)

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License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)

• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.