Building a Custom Drone Controller from Scratch — Part 3: Firmware Architecture (HAL Pattern, Non-Blocking Loop, and the Flight State Machine)
@popolony2k
In Part 1 we talked about why this project exists and what hardware it runs on, and in Part 2 we reverse-engineered the UDP protocol that lets an M5Stack AtomS3 talk to a cheap WiFi toy drone. Before going further into flight control and gamepad support, it’s worth stopping to look at how the...