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Unit Tests F4 Firmware F1 Firmware


This is the firmware required for STM32F10x-based flight controllers (Naze32, Flip32 etc...) and STM32F4x5 boards (Revo) to run ROSflight. ROSflight is a software architecture which uses a simple, inexpensive flight controller in tandem with a much more capable companion computer running ROS. The companion computer is given a high-bandwidth connection to the flight controller to access sensor information and perform actuator commands at high rates. This architecture provides direct control of lower-level functions via the embedded processor while also enabling more complicated functionality such as vision processing and optimization via the ROS middleware.

ROSflight is designed to accomplish the following objectives:

  1. Provide simpler and easier methods to develop and run advanced autopilot code on both multirotor and fixed-wing UAVs without extensive embedded programming.
  2. Robust software-in-the-loop (SIL) simulation tools for rapid testing and development of UAV code.
  3. The extensive use of peer-reviewed sources for all critical control and estimation algorithms complete with official documentation explaining all critical code.
  4. Prioritize high-bandwidth, low-latency communication with a companion computer running ROS.

These objectives will allow researchers to more easily develop, test and field UAV code by prioritizing offboard control, good documentation and robust development tools.

How to Use

Read our documentation located at which includes a getting started guide.

Getting Help

For questions on getting started, please join us at

Bug Reports and Feature Requests

Please submit an issue on this repository.