Open drone platform for small multirotors
flight controller · power and expansion boards · firmware · tools · mechanics
ACwing is a modular set of open boards, firmware and frames. A universal flight controller (STM32WB55, IMU, barometer, compass, BLE) drives a 1S brushed power board or commercial 4-in-1 ESCs; optional GNSS and optical-flow boards plug into its Qwiic ports. The firmware estimates the attitude with an invariant EKF on SO(3) and talks to the ACwing Pilot app over BLE.
| Repository | What | |
|---|---|---|
| 🧭 | ACwing | start here: the three repositories below as submodules, the versions that belong together, brand files |
| 🔌 | ACwing_HW | KiCad projects and JLCPCB files: FC, ESC 1S, GPS, Flow |
| 💾 | ACwing_FW | firmware, MATLAB and Python tools, ACwing Pilot app · documentation |
| 🛠️ | ACwing_Mechs | frames, mounts, printed parts |
git lfs install
git clone --recursive https://github.com/ACwing-UAV/ACwing.git
| Track | Where it is |
|---|---|
| Hardware | FC, ESC 1S, GPS, Flow at rev A: routed, 0 DRC errors, not produced yet |
| Firmware | attitude IEKF validated on the board; BLE telemetry on the board; protocol v2, altitude, Flow, battery, flight log host-tested |
| Mechanics | frame for the rev A stack in progress |
| Next | order rev A → bench bring-up → firmware port to the ACwing FC → control loops and first flight |
Progress is tracked in the project board with four milestones shared by all repositories: Rev A – order → Rev A – bring-up → Phase 2 on the board → Phase 3 – first flight.
by Andrea Cirillo