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| # Rotorflight | ||
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| Rotorflight is a Flight Control software suite for single-rotor helicopters. | ||
| [Rotorflight](https://github.com/rotorflight) is a Flight Control software suite designed for | ||
| single-rotor helicopters. It consists of: | ||
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| - Rotorflight Flight Controller Firmware (this repository) | ||
| - Rotorflight Configurator, for flashing and configuring the flight controller | ||
| - Rotorflight Blackbox Explorer, for analyzing blackbox flight logs | ||
| - Rotorflight LUA Scripts, for configuring the flight controller using a transmitter | ||
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| It is based on Betaflight 4.3, with many advanced features added for helicopters. | ||
| Rotorflight does **NOT** support multi-rotor crafts, nor airplanes; it is only for traditinal RC helicopters. | ||
| Built on Betaflight 4.3, Rotorflight incorporates numerous advanced features specifically | ||
| tailored for helicopters. It's important to note that Rotorflight does _not_ support multi-rotor | ||
| crafts or airplanes; it's exclusively designed for RC helicopters. | ||
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| **WARNING!** Rotorflight is **WORK-IN-PROGRESS**. Please talk to the authors if you want to participate in the | ||
| development effort! | ||
| This version of Rotorflight is also known as **Rotorflight 2** or **RF2**. | ||
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| ## Information | ||
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| For latest information, please see [Rotorflight Wiki](https://github.com/rotorflight/rotorflight/wiki) | ||
| Tutorials, documentation, and flight videos can be found on the [Rotorflight website](https://www.rotorflight.org/). | ||
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| ## Features | ||
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| Rotorflight has many features: | ||
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| * PID control tuned for helicopter use | ||
| * Fully customisable feedforward between collective/cyclic/yaw | ||
| * Many receiver protocols: CRSF, S.BUS, F.Port, DSM, IBUS, XBUS, EXBUS, GHOST, CPPM | ||
| * Support for various telemetry protocols: CSRF, S.Port, HoTT, etc. | ||
| * ESC telemetry protocols: BLHeli32, Hobbywing, Scorpion, Kontronik, OMP Hobby, ZTW, APD, YGE | ||
| * Advanced PID control tuned for helicopters | ||
| * Stabilisation modes (6D) | ||
| * Rotor speed governor | ||
| * Advanced gyro filtering for helicopters | ||
| - Advanced dynamic LPF | ||
| - Dynamic RPM based notch filter banks | ||
| * Motorised tail support with Tail Torque Assist (TTA, also known as TALY) | ||
| * Remote configuration and tuning with the transmitter | ||
| - With knobs / switches assigned to functions | ||
| - With LUA scripts on EdgeTX, OpenTX and Ethos | ||
| * Extra servo/motor outputs for AUX functions | ||
| * Fully customisable servo/motor mixer | ||
| * Flexible servo configuration | ||
| * Irrelevant (multi-rotor) features removed | ||
| * Sensors for battery voltage, current, BEC, etc. | ||
| * Advanced gyro filtering | ||
| - Dynamic RPM based notch filters | ||
| - Dynamic notch filters based on FFT | ||
| - Dynamic LPF | ||
| * High-speed Blackbox logging | ||
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| Plus lots of features inherited from Betaflight: | ||
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| * Configuration profiles for changing various tuning parameters | ||
| * Multi-color RGB LEDs | ||
| * Rates profiles for changing the stick feel and agility | ||
| * Multiple ESC protocols: PWM, DSHOT, Multishot, etc. | ||
| * Configurable buzzer sounds | ||
| * Multiple ESC protocols: DShot (150,300,600), Multishot, Oneshot, and traditional PWM | ||
| * Multiple ESC telemetry protocols: KISS, HW | ||
| * Multiple RX telemetry protocols: CSRF, FrSky, HoTT, MSP, etc. | ||
| * Voltage inputs for RSSI, battery voltage, current sensors, etc. | ||
| * Fully integrated OSD | ||
| * Fully integrated video TX control (Unify Pro, IRC Tramp, etc.) | ||
| * Multi-color RGB LEDs | ||
| * GPS support | ||
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| And many more... | ||
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| ## Hardware support | ||
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| Generally speaking, Rotorflight supports all flight controller hardware that is supported by Betaflight. | ||
| With a caveat that the flight controller must have enough suitable I/O pins for connecting all the servos | ||
| and motors required by a collective pitch helicopter. | ||
| The best hardware for Rotorflight is any Flight Controller especially designed for it. | ||
| See [What board is suitable?](https://www.rotorflight.org/docs/Tutorial-Quickstart/What-Board) | ||
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| Also, the FC boards are typically labeled for multi-rotor use - thus the user needs to understand how these | ||
| functions can be used for a different purpose with helicopters. Usually this is just about using some | ||
| of the motor outputs for servos, but in some cases a more advanced remapping may be needed. | ||
| Otherwise, Rotorflight supports all flight controller boards that are supported by Betaflight 4.3, | ||
| assuming that the board has enough suitable I/O pins for connecting all the servos and motors required. | ||
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| It is highly recommended to use a STM32F7 based flight controller, as Rotorflight greatly benefits from | ||
| the latest filtering algorithms and other new features that are all CPU intensive. | ||
| Also, the Betaflight boards are labeled for multi-rotor use - thus the user needs to understand how | ||
| these functions can be used for a different purpose with helicopters. Usually this is just about using | ||
| the motor outputs for servos, but in some cases a more advanced remapping may be needed. | ||
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| An absolute minimum is a STM32F4 based board, but it probably won't be able to run all the new features. | ||
| Rotorflight supports STM32G4, STM32F4, STM32F7 and STM32H7 MCUs from ST. | ||
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| It's highly recommended to use an STM32F7 based flight controller for Rotorflight. | ||
| It's the way to go since it can take full advantage of the latest control and filtering | ||
| algorithms, plus other cool features that really put the CPU to work. | ||
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| ## Installation | ||
| An absolute minimum is an STM32G4 based board, but it probably won't be able to run all | ||
| the new features later on. The older STM32F411 should be avoided if possible. | ||
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| Please see the "Releases" page on the Wiki to download the latest official release: | ||
| * [Click here to go to Releases](https://github.com/rotorflight/rotorflight/wiki/releases) | ||
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| ## Installation | ||
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| ## Contributing | ||
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| Contributions are welcome and encouraged. You can contribute in many ways: | ||
| Download and flash the Rotorflight firmware with the | ||
| [Rotorflight Configurator](https://github.com/rotorflight/rotorflight-configurator/releases). | ||
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| * testing Rotorflight with different types of helicopters | ||
| * documentation updates and corrections | ||
| * writing How-To guides | ||
| * bug reports | ||
| * new ideas & suggestions | ||
| * provide a new translation for configurator | ||
| * implement a new feature or a fix in the firmware | ||
| Flashing the Rotorflight firmware with any other flashing tools is not recommended. | ||
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| Visit the [website](https://www.rotorflight.org/) for more details on setting up and using Rotorflight. | ||
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| ## Open Source / Contributors | ||
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| Rotorflight is software that is **open source** and is available free of charge without warranty to all users. | ||
| ## Contributing | ||
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| Rotorflight is forked from Betaflight, which in turn is forked from Cleanflight. | ||
| Rotorflight borrows ideas and code also from Heliflight-3D, another Betaflight fork for helis. | ||
| Rotorflight is an open-source community project. Anybody can join in and help to make it better by: | ||
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| So thanks goes to all those whom have contributed along the way. | ||
| * helping other users on Rotorflight Discord or other online forums | ||
| * [reporting](https://github.com/rotorflight?tab=repositories) bugs and issues, and suggesting improvements | ||
| * testing new software versions, new features and fixes; and providing feedback | ||
| * participating in discussions on new features | ||
| * create or update content on the [Website](https://www.rotorflight.org) | ||
| * [contributing](https://www.rotorflight.org/docs/Contributing/intro) to the software development - fixing bugs, implementing new features and improvements | ||
| * [translating](https://www.rotorflight.org/docs/Contributing/intro#translations) Rotorflight Configurator into a new language, or helping to maintain an existing translation | ||
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| Origins for Rotorflight: | ||
| * **Dr.Rudder** (author, maintainer) | ||
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| Origins for Heliflight-3D: | ||
| * **James-T1** (author) | ||
| * **Dr.Rudder** | ||
| * **Westie** | ||
| ## Origins | ||
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| Origins for Betaflight: | ||
| * **Alexinparis** (for MultiWii), | ||
| * **timecop** (for Baseflight), | ||
| * **Dominic Clifton** (for Cleanflight), | ||
| * **borisbstyle** (for Betaflight), and | ||
| * **Sambas** (for the original STM32F4 port). | ||
| Rotorflight is software that is **open source** and is available free of charge without warranty. | ||
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| The Betaflight Configurator is forked from Cleanflight Configurator and its origins. | ||
| Rotorflight is forked from [Betaflight](https://github.com/betaflight), which in turn is forked from [Cleanflight](https://github.com/cleanflight). | ||
| Rotorflight borrows ideas and code also from [HeliFlight3D](https://github.com/heliflight3d/), another Betaflight fork for helicopters. | ||
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| Origins for Betaflight Configurator: | ||
| * **Dominic Clifton** (for Cleanflight configurator), and | ||
| * **ctn** (for the original Configurator). | ||
| Big thanks to everyone who has contributed along the journey! | ||
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| Big thanks to current and past contributors: | ||
| * Budden, Martin (martinbudden) | ||
| * Bardwell, Joshua (joshuabardwell) | ||
| * Blackman, Jason (blckmn) | ||
| * ctzsnooze | ||
| * Höglund, Anders (andershoglund) | ||
| * Ledvina, Petr (ledvinap) - **IO code awesomeness!** | ||
| * kc10kevin | ||
| * Keeble, Gary (MadmanK) | ||
| * Keller, Michael (mikeller) - **Configurator brilliance** | ||
| * Kravcov, Albert (skaman82) - **Configurator brilliance** | ||
| * MJ666 | ||
| * Nathan (nathantsoi) | ||
| * ravnav | ||
| * sambas - **bringing us the F4** | ||
| * savaga | ||
| * Stålheim, Anton (KiteAnton) | ||
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| And many many others who haven't been mentioned.... | ||
| ## Contact | ||
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| Team Rotorflight can be contacted by email at [email protected]. |