The pyboard run Micropython code that miss some feature in comparison with the bigger brother C-Python.
The python code is structured in the following modules:
- attitude: flight stabilization
- receiver: SBUS protocol handling, RC Receiver abstraction layer
- aplink: airPy Link Protocol stack
- utils: logging, configuration management
- pid: pid controller
- imu: MPU9150 driver (imported from an existing GitHub Project)
- fusion: sensor fusion (imported from an existing GitHub Project)
The airPy firmware provides the following features:
- Motor ARM/DISARM
- ESC Calibration
- SBUS support (Tested on FrSky X4R/X6R/X8R) *
- Stabilized Flight Mode
- PID Tuning
- Sensors reading streaming
* The SBUS drive support 16 Channels + 2 digital, but at the moment only 4 Channels are used by the software.
The source code is available on GitHub