├── .gitattributes ├── .gitignore ├── .gitmodules ├── BUGS.md ├── Makefile ├── README.md ├── board ├── board.c ├── board.h └── board.mk ├── chconf.h ├── halconf.h ├── kfly_defs.h ├── lib ├── arm_math.h └── libarm_cortexM4lf_math.a ├── main.c ├── make ├── STM32F405xG.ld ├── date.bat └── rules.ld ├── mcuconf.h ├── modules ├── communication │ ├── communication.mk │ ├── inc │ │ ├── circularbuffer.h │ │ ├── cobs.h │ │ ├── communication_defs.h │ │ ├── kflypacket_generators.h │ │ ├── kflypacket_parsers.h │ │ ├── serialmanager.h │ │ ├── slip.h │ │ ├── slip2kflypacket.h │ │ └── subscriptions.h │ └── src │ │ ├── circularbuffer.c │ │ ├── cobs.c │ │ ├── kflypacket_generators.c │ │ ├── kflypacket_parsers.c │ │ ├── serialmanager.c │ │ ├── slip.c │ │ ├── slip2kflypacket.c │ │ └── subscriptions.c ├── control │ ├── control.mk │ ├── inc │ │ ├── arming.h │ │ ├── attitude_loop.h │ │ ├── computer_control.h │ │ ├── control.h │ │ ├── control_definitions.h │ │ ├── control_reference.h │ │ ├── pid.h │ │ └── rate_loop.h │ └── src │ │ ├── arming.c │ │ ├── computer_control.c │ │ ├── control.c │ │ ├── control_reference.c │ │ └── pid.c ├── crc │ ├── crc.mk │ ├── inc │ │ └── crc.h │ └── src │ │ └── crc.c ├── estimation │ ├── estimation.mk │ ├── inc │ │ ├── attitude_ekf.h │ │ ├── estimation.h │ │ └── motion_capture_estimator.h │ ├── math_expansion_ekf.m │ └── src │ │ ├── attitude_ekf.c │ │ ├── estimation.c │ │ └── motion_capture_estimator.c ├── external_flash │ ├── external_flash.mk │ ├── inc │ │ ├── ext_flash.h │ │ └── flash_save.h │ └── src │ │ ├── ext_flash.c │ │ └── flash_save.c ├── math │ ├── inc │ │ ├── biquad.h │ │ ├── geometry.h │ │ ├── linear_algebra.h │ │ ├── quaternion.h │ │ ├── trigonometry.h │ │ └── vector3.h │ ├── math.mk │ └── src │ │ ├── biquad.c │ │ └── quaternion.c ├── modules.mk ├── motion_capture │ ├── inc │ │ └── motion_capture.h │ ├── motion_capture.mk │ └── src │ │ └── motion_capture.c ├── rc_input │ ├── inc │ │ └── rc_input.h │ ├── rc_input.mk │ └── src │ │ └── rc_input.c ├── rc_output │ ├── inc │ │ └── rc_output.h │ ├── rc_output.mk │ └── src │ │ └── rc_output.c ├── sensors │ ├── inc │ │ ├── hmc5983.h │ │ ├── mpu6050.h │ │ ├── sensor_calibration.h │ │ └── sensor_read.h │ ├── sensors.mk │ └── src │ │ ├── hmc5983.c │ │ ├── mpu6050.c │ │ └── sensor_read.c ├── spectral_estimation │ ├── inc │ │ └── spectral.h │ ├── spectral_estimation.mk │ └── src │ │ └── spectral.c ├── system_information │ ├── inc │ │ └── system_information.h │ ├── src │ │ └── system_information.c │ └── system_information.mk └── usb │ ├── inc │ ├── usb_access.h │ ├── usb_desc.h │ └── usbcfg.h │ ├── src │ ├── usb_access.c │ └── usbcfg.c │ └── usb.mk └── system ├── bootloader.c ├── bootloader.h ├── system.mk ├── system_cpp.cpp ├── system_init.c └── system_init.h /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/korken89/kfly_firmware/HEAD/.gitattributes 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