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

Current waveform Exact direct reference Reversal

Each half stretched to equal width

Down half Up half, direction aligned Exact diagonal

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