FerroWasp is a safety-focused Rust/RTIC flight-controller firmware project for multicopter UAVs. It builds a small, inspectable flight stack around explicit resource ownership, deterministic scheduling, and bounded hardware interfaces.
The firmware is experimental and intended for development, research, and careful prototype testing. It is not a stable or production flight stack.
Foxeer F405V2 is the golden flight target and the reference for supported runtime behavior. The matrix is intentionally short; the complete matrix and board-specific limitations live in the Current Support chapter.
| Capability | Foxeer F405 V2 |
|---|---|
| Status | Golden flight app; boots, arms, controls, logs, and has completed controlled prototype flights |
| Platform | STM32F405, allocation-free embedded Rust, RTIC 2 |
| RC and sensing | SBUS, MPU6500 or ICM42688-P, data-ready IMU sampling, voltage/current ADC |
| Flight control | 400 Hz rate controller, filtering, gyro calibration, Quad X mixer |
| Motors | Four-lane DShot600 with guarded arming and fresh-command containment |
| ESC feedback | BLHeli legacy UART telemetry with four-motor eRPM qualification |
| Pilot interfaces | DJI O4 MSP DisplayPort OSD and USB CDC |
| Configuration and logging | Persistent tuning plus onboard SPI-NOR blackbox access through FerroConfigurator |
FerroWasp FCU3 remains a supported secondary STM32F405 flight target. NUCLEO-F401RE is a non-actuating development target. Additional boards can be added to the matrix as their support becomes meaningful.
Use the User Guide to install the packaged FerroConfigurator, flash a Foxeer F405 V2 over USB, manage configuration, and download flight logs. The packaged workflow does not require a Rust toolchain or source checkout.
Use the Developer Setup guide for the pinned WSL2/Docker environment, native setup, workspace checks, embedded app builds, and documentation workflow.
The mdBook is the canonical home for user and developer documentation. Its maintained Summary is the documentation index; the same book is published through GitHub Pages.
The root README stays intentionally brief. Internal agent context, retained evidence records, and machine-readable test metadata are not user entry points and remain outside the public documentation flow.
FerroConfigurator is the primary Foxeer companion application. It provides guided USB flashing, safe parameter management, selective blackbox downloads, and FWBB-to-ULog conversion. See the mdBook for usage and development details.
Issues, hardware observations, and focused design feedback are welcome through GitHub Issues. Report security-sensitive findings privately as described in SECURITY.md.
Contributions are welcome. See the contribution guide and the Developer Setup guide.
FerroWasp is licensed under the Apache License, Version 2.0. See LICENSE, NOTICE, and THIRD_PARTY_NOTICES.md.