Documentation
The manual, the gyro notes, and the web UI reference.
Architecture
- Ornithopter
- Mixer, waveform generation, channel filtering
- Zephyrus
- MPU6050 gyroscope + Mahony AHRS + dual PID
- ServoOutput
- PWM synchronized to CRSF tick
- Target
- ESP8285 2400MHz RX
Articles
Ferocity waveform geometry
Ferocity controls both the character and the timing of a half-stroke. Internally, the WebUI’s 0–100 setting maps to 0–8. Higher downstroke ferocity shortens the downstroke’s share of the cycle; higher return ferocity shortens the return share. The remaining time is transferred to the opposite half—there is no pause at zero.
The per-profile Ferocity Shape control selects the high-ferocity character. At 0% it favours a finite plateau/square shape. At 100% it favours a rounded pyramidal path. Each half still uses its own ferocity, so a low-ferocity half remains elongated and sinusoidal while a high-ferocity half approaches a direct diagonal traversal.
Throttle — coupled to skew
Whole cycle
Each half stretched to equal width
Reading extreme combinations
A 7 / 1 combination clearly produces a short pointed downstroke and a long sinusoidal return. Exact and near-maximum values require care: the current duration law uses the amount remaining below ferocity 8. Consequently, 8 / 0 allocates only about 0.125% of the cycle to the downstroke, while even 8 / 6 allocates about 0.5%. Position remains continuous, but the requested speed and acceleration can become physically unreachable.
Concepts
- Ferocity
- Stroke/return asymmetry and dwell — 0 is a pure sine.
- Waveform
- The wingbeat curve; amplitude comes from deg/s ÷ 2·freq.
- Glide angle
- Wing centre offset for gliding flight.
- Flapping centre offset
- Centre bias during the flap stroke (−15…+15 deg).
- Rudder mixing
- Yaw/roll blend that drives the crest rudder.
- Throttle ferocity mix
- How much throttle couples into ferocity.
- Failsafe
- Wings return to neutral if the link drops.
Manuals
| PTERONAUTOS.md | Main manual — architecture, mixer, waveform |
| STABILIZATION.md | Zephyrus gyro — AHRS and PID |
| WEBUI_I18N.md | Web UI and translation reference |
| HARDWARE.md | Wiring and pin maps |