WingFC pairs high-rate, bare-metal Rust flight software (wingfc-rs) with an ultra-compact 25.5 × 25.5 mm carrier board (wingfc-hardware) hosting the Seeed XIAO nRF52840 Sense. Built for acrobatic fixed wings and autonomous UAVs requiring hard real-time determinism and lightweight integration.
A deterministic, zero-heap #![no_std] flight controller built on the Embassy cooperative async runtime for Nordic nRF52840 (ARM Cortex-M4F @ 64 MHz with single-cycle FPU).
A 4-layer PCB carrier board designed to host the Seeed Studio XIAO nRF52840 Sense Plus and break out all power regulation, actuation headers, and serial sockets.
Engineered for clean airflow, recessed USB-C access, and tight fuselage bays.
Mapped directly between the Seeed Studio XIAO nRF52840 Sense Plus and carrier headers.
Deploy firmware without setting up complex toolchains using the built-in USB UF2 drag-and-drop bootloader.
1. Double-tap the tiny reset button on the Seeed Studio XIAO nRF52840 Sense Plus.
2. The board enumerates as a USB mass storage drive named XIAO-SENSE.
3. Copy the compiled wingfc-firmware.uf2 file directly onto the drive:
cp dist/wingfc-firmware.uf2 /media/$USER/XIAO-SENSE/Adjust airframe mixers, rates, PIDs, and autonomous safety ceilings in a single human-readable file:
board: xiao-sense-plus # Extra UART for GPS navigation
orientation: default # IMU mounting orientation
airframe: elevon # Flying wing elevon differential mixing
loop_rate: high # 833 Hz hardware DRDY sync (standard: 416 Hz)
receiver:
protocol: crsf # TBS Crossfire / ExpressLRS @ 420 kBaud
failsafe_timeout_ms: 500
safety:
arm_switch_threshold_us: 1800
throttle_zero_threshold_us: 1050
servos:
pwm_frequency_hz: 400 # 50 Hz analog / up to 400 Hz digital
motor:
protocol: pwm # Standard PWM (50–400 Hz) or DShot
navigation:
enabled: true
barometer: true # Vertical Kalman filter altitude fusion
gps: true # GPS navigation & Return-to-Home (RTH)
max_ceiling_agl_m: 120.0 # Statutory 120m (400 ft) AGL ceiling