CleanFlight
Clean-code flight controller firmware for multi-rotor and fixed-wing aircraft, supporting STM32 processors.
What is CleanFlight?
Cleanflight is an open-source flight controller firmware for multi-rotor and fixed-wing aircraft, built as a clean-code version of Baseflight. It provides advanced features like DShot motor protocols, Blackbox logging, and in-flight PID tuning, solving the need for reliable, configurable flight control software for drone enthusiasts and developers.
Drone pilots, RC aircraft hobbyists, and developers building or customizing flight controllers for multi-rotor or fixed-wing platforms, especially those using STM32-based hardware.
Developers choose Cleanflight for its clean, maintainable codebase, extensive feature set including support for multiple motor protocols and telemetry, and its widespread adoption as one of the most used flight controller firmware globally, backed by active community support.
Overview
Clean-code version of the baseflight flight controller firmware
Use Cases
Best For
- Building custom multi-rotor drones with STM32 flight controllers
- Implementing advanced motor control protocols like DShot or Multishot
- Flight data logging and analysis via Blackbox recorder
- In-flight PID tuning and rate adjustment for optimized flight performance
- Configuring OSD and telemetry without third-party software
- Developing or modifying flight controller firmware with a clean-code base
Not Ideal For
- Projects requiring out-of-the-box, automatically tuned firmware with no manual configuration
- Hardware platforms using non-STM32 microcontrollers (e.g., ESP32, PIC, or proprietary chips)
- Commercial drone manufacturers needing certified firmware with dedicated vendor support and warranties
- Users who prefer a fully graphical, wizard-driven setup without delving into advanced CLI commands
Pros & Cons
Pros
Supports DShot up to 1200, Multishot, and Oneshot for high-precision control, as listed in the features, enabling optimized performance for various drone types.
Blackbox recorder logs data to onboard flash or external microSD, allowing detailed post-flight analysis for debugging and tuning, without needing extra hardware.
Configurable serial ports support Serial RX, Telemetry, GPS, OSD, and more via softserial, offering versatility in connecting peripherals on any port.
Allows manual PID tuning and rate profile selection during flight, enabling real-time adjustments without landing, as highlighted in the features.
Cons
End-user support is directed to forums and Slack, with the GitHub issue tracker not for support, leading to potential delays and inconsistent assistance.
The vast array of settings and need for manual tuning require significant technical knowledge, making it intimidating for casual users or beginners.
Only supports STM32 F7, F4, and F3 processors, restricting use with other common microcontroller families and newer architectures.
Frequently Asked Questions
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