This repository documents the design and implementation of a custom STM32F411-based flight controller built from the ground up to run INAV 6.1 on non-standard hardware. Using the STM32F411CEU6 Black Pill as the core, the project integrates essential navigation sensors, power regulation, and communication modules into a compact, modular architecture suitable for UAV experimentation and research.

The hardware combines an MPU6050 IMU, BMP180 barometer, and u-blox NEO-M8N GPS, supported by a robust onboard power system and expandable interfaces. A key highlight is the use of a custom ESP32-based SBUS transmitter, enabling reliable 16-channel control with full INAV compatibility. The repository includes wiring references, images, configuration files, and prebuilt firmware to accelerate replication and testing.

Overall, this project serves as a practical reference platform for custom flight-controller development, bridging breadboard-level prototyping and future custom PCB designs. It is intended for developers and students aiming to understand INAV internals, STM32-based FC hardware design, and scalable UAV system integration, with clear scope for future enhancements and upstream contributions.

This is especially made for ROV - thats why it supports wired SBUS Communication Protocol