Manifest

A new species of flight controller

OrniFlight exists because a flapping wing controls thrust, pitch, roll, and yaw within a single stroke — a channel of expressiveness no propeller can match.

Nature solved flapping-wing flight 150 million years before the first quadcopter took off. Every sparrow, every albatross, every hummingbird carries flight logic in its nervous system that no PID controller has ever replicated. OrniFlight opens a new domain — where thrust is phase, where stability is rhythm, where the aircraft breathes with every wingbeat. ONDAS, our Oscillating Normalized Dynamic Adaptive Stabilization, is the first control theory built from first principles for flapping aerodynamics. It modulates correction force within the wingbeat — not against it, not despite it, but with it. This firmware is free software because flight belongs to no corporation. It runs on commodity STM32F3 hardware because the tools for transcendent flight should cost less than a dinner. OrniFlight inherits a battle-tested architecture and pushes into uncharted air — a new species of flight controller, built for wings from the silicon up. The birds have been waiting for us to catch up.

ONDAS

Oscillating Normalized Dynamic Adaptive Stabilization

Oscillating Normalized Dynamic Adaptive Stabilization — the first control theory built specifically for flapping-wing aerodynamics.

Quad PIDs assume continuous thrust. Ornithopter thrust is phasic — the same impulse creates different moments depending on when in the stroke it's applied. ONDAS uses cadence, ferocity, balance, warp, anchor, resonance, prescience, espelho, saudade, and SSFF — an orchestra of phase-aware modulators — to place every corrective gram exactly where aerodynamics can use it.

Full ONDAS Theory →

Features

Everything the wing deserves

Flight Profiles

4 independent profiles (0–3), switchable in-flight via BOX mode. Each holds full ONDAS tuning, wave shape, and aeroelastic coefficients.

Unified Frequency Channel

Single RC channel with min/max Hz mapping. Works identically in INDEPENDENT and GLIDE flight modes — one pot, both regimes.

GralhaAzul Wing Dynamics

Trapezoidal waveform generation with servo speed limiting, amplitude mapping, flap magnitude, and wing origin geometry — the wing-ODE core.

10-Channel ONDAS Modulation

Cadence timing, ferocity P/D on 3 axes, balance, warp, anchor, resonance — per-profile, real-time adjustable via MSP.

MSP Configurator (apiVersion 1.46)

Full ONDAS tuning GUI — all 19 profile fields, frequency channel, GralhaAzul, Phase 2 gains. Profile switcher for per-slot editing.

GLIDE + INDEPENDENT Modes

Two flight regimes: GLIDE (throttle-centred, natural soaring) and INDEPENDENT (direct flap frequency via RC channel). BOX-selectable.

Hardware

Commodity STM32F3/F4/F7 flight controllers

Runs on any Betaflight 4.0-compatible STM32F3/F4/F7 flight controller with servo-capable timer pins.

Getting Started →