Robot Firmware - ahiver/docs GitHub Wiki
Install ArduPilot on Flight Controller
https://ardupilot.org/copter/docs/common-loading-firmware-onto-chibios-only-boards.html
I used STM32CubeProgrammer for flashing
Set Parameters
Connect FlightController to Dev Machine though USB
Set Parameters using Mission Planner or QGroundControl
Mission Planner: Config -> Full Parameters List
Some changes are caused by my hardware setup is missing some parts
AHRS_GPS_USE
ARMING_CHECK: 0
COMPASS_ENABLE: 0
EK3_IMU_MASK: 1
FS_THR_ENABLE: 0
SERIAL_BAUD: 921
SR0_RAW_SENS: 300 actually, recommended maximum is 50, but we need to force 300 Hz rate. Real value is not shown (shows 2)