Deterministic, bare-metal Rust firmware and open hardware engineered for low latency, zero dynamic allocation, and predictable timing—from sub-millisecond packet processing on FlySky transmitters to 833 Hz high-rate stabilization loops for lightweight wings.
Each project solves a specific embedded challenge with its own architecture, target hardware, and design goals.
A clean-slate bare-metal operating system for entry-level STM32F072 ARM Cortex-M0 radios. Delivers hard real-time 260 Hz packet timing, sub-2ms safe watchdog recovery, 100 Hz USB simulator joystick, and full CRSF / ExpressLRS parameter sync within ~110.5 KB of Flash with >7 KB stack safety buffer.
A high-rate fixed-wing flight controller for sub-250g UAVs. Combines Embassy async Rust on the Seeed XIAO nRF52840 (Cortex-M4F @ 64 MHz) with a custom 25.5mm × 25.5mm carrier board featuring a 2A BEC, DPS310 barometer, and 10 actuator outputs.
While each project was designed independently for its own target hardware, both implement standard open RC protocols: CRSF / ExpressLRS and FlySky i-BUS. You can fly your favorite aircraft with WingFC onboard directly with either a FS-I6X or FS-I6S running Ferrox-RC firmware OR pair either with your favorite compatible hardware (EdgeTX transmitters, Betaflight flight controllers, or ELRS serial receivers).
Grounded in the reverse-engineering breakthroughs and hardware documentation shared by Kuba (qba667), Janek (ajjjjjjjj), the OpenI6X community, and fishpepper.de, verified with logic analyzers and rigorous bench testing.
Automated unit and regression tests run on the host via cargo test-host in fast execution, validating CRSF wire framing, mixer clamping, and navigation math before touching silicon.
Not theoretical code: every subsystem is flashed and validated on physical hardware with real gimbals, real receivers (FS-iA6B/Fli14), ExpressLRS TX modules, IMUs, and flight packs.
We believe in radical transparency: by combining deep hardware experience with modern AI pair-programming, we build production-grade, bare-metal firmware that is open, reproducible, and ready for community expansion.
