01 Essence
PteronautOS is built on ExpressLRS, transformed into a flight controller for ornithopters.
Not a quad — no motors, no ESCs, no Betaflight. Movement is generated by waveforms driving two wing servos and a crest rudder servo.
CRSF (radio) → rx_main → Ornithopter → waveform → PWM servos
02 Architecture
- Ornithopter
- Mixer, waveform generation, channel filtering
- Zephyrus
- MPU6050 gyroscope + Mahony AHRS + dual PID
- ServoOutput
- PWM synchronized to CRSF tick
- Target
- ESP8285 2400MHz RX
03 Zephyrus Gyro Module
Cephalic crest rudder stabilization via MPU6050. Mahony AHRS for attitude estimation, dual PID for roll angle and yaw rate correction.
| Sensor | MPU6050 (GY-521) |
| Interface | Direct I2C (GPIO1/GPIO3) |
| AHRS | Mahony (register-level, ~1kHz) |
| PID | Dual: roll angle + yaw rate |
| Output | Crest rudder correction |
| RAM | 62% |
| Flash | 56% |
04 Build
pio run -e PteronautOS_ESP8285_2400_RXCompatible: ExpressLRS TX 2.4GHz · Baudrate: 420000