Contact person: Business Client

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Location: Milton, United States

Budget: Recommended by industry experts

Time to start: As soon as possible

Project description:
"I am seeking a highly skilled embedded developer to build a minimal RTOS-based flight controller firmware for an STM32 microcontroller.
This project focuses on creating a stable, real-time stabilization flight controller, not a full autopilot system.

Key Requirements:
Develop the firmware from scratch using FreeRTOS or Zephyr, including:
Core Flight Controller Functions
IMU sampling via SPI at 1 kHz
Sensor fusion using Mahony filter (200–500 Hz)
PID stabilization loops for Roll, Pitch, and Yaw
Mixer + motor outputs using PWM or DShot (400–480 Hz)
RC input handling via SBUS or CRSF
UART logging + basic failsafe mechanisms
Clean, modular RTOS task architecture with deterministic timing
Low-latency, robust, and stable performance

Power & Telemetry Support (Required or Optional — Please Specify What You Can Implement)
Battery Voltage measurement via ADC
Battery Current measurement via ADC or current sensor (e.g., INA219/INA226)
Motor RPM via DShot Telemetry
ESC Temperature via telemetry
mAh consumption tracking (integrated current)
These telemetry features greatly enhance logging, monitoring, and debugging.

Ideal Skills & Experience:
Strong proficiency in STM32 development (C, HAL/LL, FreeRTOS)
Experience with IMUs, SPI drivers, sensor fusion, and control loops
Background in UAV firmware development or flight controllers
Knowledge of PWM/DShot protocols, timers, ADC, UART, and real-time scheduling
Ability to write clean, well-structured, well-documented code" (client-provided description)