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Rotorflight is currently under development. It is available to beta-testers.

Firmware

The Rotorflight firmware is already functional, and is flying smoothly.

Current focus is getting the first Release out, and documentation improvements.

Already working

• PID controller for helicopter use
• Generic mixer (swash mixing, custom mixing)
• Flexible servo configuration
• Separate CW/CCW tail gains
• Motorised tail support
• Tail Torque Assist (TTA/TALY/etc.)
• Tail feedforward (from roll, pitch, and collective)
• Governor (multiple modes, lots of config options)
• Piro compensation (keeping fast piros flat)
• I-term decay (prevents tipping over on-the-ground)
• Swash ring
• Rescue mode
• Angle mode (aka "6G" mode)
• RPM sensor input
• ESC telemetry (KISS/Dshot)
• RPM filtering for helicopters
• Dynamic filtering for helicopters
• PID gain normalisation (same feel regardless of headspeed, configurable)
• Many CLI improvements for helicopter setup
• Many minor improvements

For the future

• PID autotune
• Governor autotune
• Altitude & attitude hold (w/ baro)
• GPS hold
• GPS return home
• PID w/ Smith Predictor
• EKF / sensor fusion
• Online vibration analysis
• Rebase on BF4.3

Configurator

The Rotorflight Configurator is now fully working. The GUI is functional, and everything is accessible without going into the CLI.

Done

• Rotorflight look&feel
• Status tab (new)
• System tab (improved)
• Configuration tab (refactored)
• Receiver tab (improvements)
• Servos tab (rewritten)
  • Servo status
  • Servo override
• Motors tab (refactored)
  • Governor
  • Motor telemetry
  • Motor override
• Profiles tab (refactored)
• Rates tab (refactored)
• Gyro tab (refactored)
• Beepers tab (split from config)
• Adjustments (refactored)
  • stepwise & continuous adjustments
• Firmware online access
• Mixer & swash config
• Governor config
• RPM filter config

For the future

• Setup WIZARD
• Vibration analysis
• New logging & sensors tab

Blackbox Explorer

Rotorflight Blackbox is fully functional. There should be no major issues.

Done

• Motor support (for helis)
• Servo support (for helis)
• Governor support
• Adjustments events
• Rotorflight look&feel
• Rotorflight firmware detection

Under development

• Replace drone attitude indicator with a helicopter
• Use headspeed instead of throttle in the FFT waterfall