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Jonas Zeunert
2025-07-18 22:22:32 +02:00
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 Awesome Flying FPV !Awesome (https://awesome.re/badge.svg) (https://awesome.re)
 Awesome Flying FPV !Awesome (https://awesome.re/badge.svg) (https://awesome.re)
This is a list of Free Software and Open Hardware dedicated for multicopters as well as airplanes or flying wings. We list esp. established projects with a active community and also some classics that might be legacy but important 
projects with a lot of mods.
This is a list of Free Software and Open Hardware dedicated for multicopters as well as airplanes or flying wings. We list esp. established projects with a active community and also some classics that might be legacy but important projects with a
lot of mods.
We hope to give you some orientation where to start and present you the full spectrum of open source development on the world of UAVs.
@@ -53,21 +53,23 @@
Airframes
The body of a UAV depends on the kind of aircraft and is optimized for it's usecase. Is it high speed for racing, improved agility for acrobatic freestyle, a heavy lifter for filming , long distance observations, ... . This requirements
result in different mechanics and materials and take DIY aspect into account.
The body of a UAV depends on the kind of aircraft and is optimized for it's usecase. Is it high speed for racing, improved agility for acrobatic freestyle, a heavy lifter for filming , long distance observations, ... . This requirements result in
different mechanics and materials and take DIY aspect into account.
You will find also a lot of spare parts or mods / extensions to commercial vehicles, which we don't list up here!
▐ Note
▐ Building a UAV from scratch is a pretty challenging task for a beginner, esp. if you have limited amount of time.
▐ So it might be wise, to try existing solutions or kits before, so you don't get stuck to early and have a handy manual. Later on, you can try different mods or start with custom builds, if you have gained more experience and know how 
▐ to avoid common pitfalls.
▐ So it might be wise, to try existing solutions or kits before, so you don't get stuck to early and have a handy manual. Later on, you can try different mods or start with custom builds, if you have gained more experience and know how to avoid 
▐ common pitfalls.
▐ See also: My Raspberry Pi drone: the story so far by Matchstic (https://www.youtube.com/watch?v=ZCOlT_sz6Gs).
Multicopters 🚁
Copters are built using different materials from alu / carbon profiles to CNC cuts to full 3D printed cases and have different configurations for different number of rotors (bi... octo):
⟡ Sub 250g autonomous drone (https://www.youtube.com/watch?v=u_ArriXbrR0) - 3D printed bare minimum frame with Liion and GPS
⟡ JeNo 5.1" (https://github.com/WE-are-FPV/JeNo-5.1) - Modern carbon wide X-frame with accessoirs
⟡ Goblin v3 (https://www.printables.com/de/model/396395-goblin-fpv-drone) - 3D printed frame, 4S power, 16x16 AIO stack, 2023.
⟡ NanoLongRange (https://www.thingiverse.com/thing:4769576) - 3D printed frame with mostly a 18650 Liion cell and a all-in-one board for whoops, 2021.
  ⟡ Discovery Edition (https://www.thingiverse.com/thing:5428365) - Optimized frame with integrated battery holder, 2022.
@@ -92,9 +94,9 @@
Fixed Wing / Planes 🛩️
Traditional RC airplanes are created using balsa wood and foil covered rips for the wings. Commercial models make often use of foam, that you can also cut by CNC and lasers to create wing profiles. Also fully 3D printed planes are 
possible, that you glue and strength with carbon roods. There is also a growing community for (commercial) 3D printed models like Craycle Hobby (https://craycle.com/), Eclipson airplanes (https://www.eclipson-airplanes.com/),3D lab 
print (https://3dlabprint.com/product-category/printable-airplanes/), Plane Print (https://www.planeprint.com/) , OWLplane (https://owlplane.com/) or rc-jetprint.de (https://rc-jetprint.de/en/) using lightweight PLA to save weight.
Traditional RC airplanes are created using balsa wood and foil covered rips for the wings. Commercial models make often use of foam, that you can also cut by CNC and lasers to create wing profiles. Also fully 3D printed planes are possible, that
you glue and strength with carbon roods. There is also a growing community for (commercial) 3D printed models like Craycle Hobby (https://craycle.com/), Eclipson airplanes (https://www.eclipson-airplanes.com/),3D lab print 
(https://3dlabprint.com/product-category/printable-airplanes/), Plane Print (https://www.planeprint.com/) , OWLplane (https://owlplane.com/) or rc-jetprint.de (https://rc-jetprint.de/en/) using lightweight PLA to save weight.
⟡ HAWk Modular RC Wing Airplane v1 (https://www.printables.com/de/model/422806-hawk-modular-rc-wing-airplane) - 3D printed LW-PLA 1m++ pusher / puller wing, full BOM + manual docs, 2023.
⟡ V-Tail Aircraft for Long Range FPV & Autonomous Missions - by AeroStuff FPV (https://www.youtube.com/watch?v=sTjXVeo_lpQ) - Use folded depron panels for body and wings for a V-Tail pusher.
@@ -137,8 +139,7 @@
  ⟡ 18650 spaceholder (https://www.printables.com/de/model/1181-18650-improved-spacerholder) - 3D print for easier packaging, 2023.
⟡ Solar plane
  ⟡ Solar Dragon - Solar Plane Might Be Able To Last Through The Night (https://hackaday.com/2022/08/06/solar-plane-might-be-able-to-last-through-the-night/) - Plane with PV beplanned ribs, 2022.
  ⟡ rctestflight series (https://www.youtube.com/watch?v=1OGrDvInUAY) - 8hrs30 fixed wing full of solar cells with great measurements and background infos (might last 24hrs (https://hackaday.com/2022/09/27/24-hours-of-le-airplanes/)), 
2022.
  ⟡ rctestflight series (https://www.youtube.com/watch?v=1OGrDvInUAY) - 8hrs30 fixed wing full of solar cells with great measurements and background infos (might last 24hrs (https://hackaday.com/2022/09/27/24-hours-of-le-airplanes/)), 2022.
⟡ diyBMS v4 (https://github.com/stuartpittaway/diyBMSv4) - Battery management PCB and firmware for LiIon packs.
@@ -148,14 +149,14 @@
⟡ BLheli_S (https://github.com/bitdump/BLHeli) - Popular Firmware for ESCs with fine-grained control.
⟡ BlueJay (https://github.com/mathiasvr/bluejay) - BLheli fork, Digital ESC firmware for controlling brushless motors. More features like custom melodies. Since 2020.
⟡ AM32-MultiRotor-ESC-FW (https://github.com/am32-firmware/AM32) - DSHOT, telemetry, 2024
⟡ MESC FOC ESC (https://github.com/davidmolony/MESC_FOC_ESC) - Open Hardware and Firmware for STM32 basrd ESC.
⟡ ESC Configurator (https://github.com/stylesuxx/esc-configurator) - Web app to setup your BLHeli / Bluejay ESC.
⟡ PIDtoolbox (https://github.com/bw1129/PIDtoolbox) - tuning your PID settings for max. performance of your specific modell.
Flight Control 👨‍✈️
Modern autopilot software require STM32 based boards with F4/F7 chip generation and usually no longer support legacy boards like NAZE32, CC3D, ArduPilot, etc. Most projects are base on Baseflight / Cleanflight firmware and Desktop 
Configurator.
Modern autopilot software require STM32 based boards with F4/F7 chip generation and usually no longer support legacy boards like NAZE32, CC3D, ArduPilot, etc. Most projects are base on Baseflight / Cleanflight firmware and Desktop Configurator.
⟡ INAV (https://github.com/light/inav) - Focus on GPS based flight planning / autonomous flights for wings and copters.
⟡ betaflight (https://github.com/betaflight/betaflight) - Focus on racing and agility for wings and copters.
@@ -164,17 +165,20 @@
⟡ Ardupilot (https://ardupilot.org) - Full ecosystem including professional / research use for wings and copters and even land or water vehicles. A lot of information, experiences and possibilities, but also more complex than INAV.
⟡ dRehmflight (https://github.com/nickrehm/dRehmFlight) - Dedicated to VTOLs and it's transformation during flight process, Teensy Boards only.
⟡ Rotorflight (https://github.com/rotorflight/rotorflight) - Firmware for traditional single-rotor helicopters.
⟡ HPR-Rocket-Flight-Computer (https://github.com/SparkyVT/HPR-Rocket-Flight-Computer) - High speed rockets firmware
⟡ CleanFlight (https://github.com/cleanflight/cleanflight) - Legacy fork of baseflight , stall.
⟡ BaseFlight (https://github.com/multiwii/baseflight) - Legacy and oldest FW of the days of Wii gyro hacks and 8bit, stall.
⟡ QUICKSILVER firmware (https://github.com/BossHobby/QUICKSILVER) - ?.
⟡ Paparazzi UAV (https://github.com/paparazzi/paparazzi) - ?.
⟡ LibrePilot (https://github.com/librepilot/LibrePilot) - Stall since 2018.
⟡ madflight (https://github.com/qqqlab/madflight) - For Arduino based target boards, different sensors supported, 2024
⟡ The Cube Autopilot (https://github.com/proficnc/The-Cube) - FC hardware like the Pixhawk 2, 
⟡ Risc V Powering a 3D Printed Drone (https://www.youtube.com/watch?v=TJCeLOiP7lU) - RISCV cpu experiments on DIY quadcopter.
RC Transmitters & Handcontroller 🎮
Radio control transmitters (RC TX, your side) support extension bays with the JR / JR lite formfactor (https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/blob/master/docs/Module_BG_4-in-1.md) and serial interfaces to adapt to 
different radio protocols. See also Ground station.
Radio control transmitters (RC TX, your side) support extension bays with the JR / JR lite formfactor (https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/blob/master/docs/Module_BG_4-in-1.md) and serial interfaces to adapt to different 
radio protocols. See also Ground station.
Most receivers (RX, drone side) support standard serial protocols like Crossfire (CSRF) to talk with the FC.
⟡ EdgeTX (https://github.com/EdgeTX/edgetx) - Successor of OpenTX under active development.
@@ -210,8 +214,8 @@
Videotransmitter (VTX) are analog or digital radio transmitter on your drone, which send usually a videostream of your front camera (first person view - FPV) but can also transmit arbitrary information or establish a somewhat regular 
bidirectional link between the drone and a groundstation which also offers control uplink etc. See also Ground station.
⟡ OpenHD (https://github.com/OpenHD/Open.HD) - Use 2.4 / 5.8 GHz wifi hardware and SBCs on air and groundside to provide a video and telemetry downlink and an optional control uplink. Try to develop a more efficient dedicated hardware 
board. Compare different open digital links (https://openhd.gitbook.io/open-hd/general/openhd-vs-alternatives).
⟡ OpenHD (https://github.com/OpenHD/Open.HD) - Use 2.4 / 5.8 GHz wifi hardware and SBCs on air and groundside to provide a video and telemetry downlink and an optional control uplink. Try to develop a more efficient dedicated hardware board. 
Compare different open digital links (https://openhd.gitbook.io/open-hd/general/openhd-vs-alternatives).
⟡ RubyFPV (https://rubyfpv.com) - Use 2.4 / 5.8 GHz wifi hardware and RPIs to provide a video and telemetry downlink and an optional control uplink. No source provided but plugin system.
⟡ Wifibroadcast NG (https://github.com/svpcom/wifibroadcast) - Use 2.4 / 5.8 GHz wifi hardware and RPIs to provide a video and telemetry downlink.
⟡ wfb-ng on OpenIPC (https://github.com/OpenIPC/sandbox-fpv) - Wifibroadcast NG on OpenIPC compatible CCTV modules, capable of 120fps or 4k video feeds with telemetry
@@ -275,8 +279,8 @@
Telemetry & Logs 📊
Sensor values and control information are shared via common serial protocols which can be recorded onboard (blackbox) on internal SD cards at FC, or transferred to your TX handset or Groundstation. Useful to find lost drones, as well as
debug and tune PID and flight behavior
Sensor values and control information are shared via common serial protocols which can be recorded onboard (blackbox) on internal SD cards at FC, or transferred to your TX handset or Groundstation. Useful to find lost drones, as well as debug and
tune PID and flight behavior
⟡ MAVlink (https://github.com/mavlink/mavlink) - Modern extensible protocol from hobbiests ... commercial UAV.
⟡ Cyphal (https://opencyphal.org) - Fka. UAVCAN industrial only drone bus system.
@@ -309,8 +313,8 @@
Companion Computers & Integration 💻
Your FC is focused on realtime control for maneuvers, while additional computers add ressources for more complex data processing, see also Arudpilot.org - Companion Computers (https://ardupilot.org/dev/docs/companion-computers.html) and
digital VTX systems above.
Your FC is focused on realtime control for maneuvers, while additional computers add ressources for more complex data processing, see also Arudpilot.org - Companion Computers (https://ardupilot.org/dev/docs/companion-computers.html) and digital 
VTX systems above.
⟡ öchìn CM4 (https://github.com/ochin-space/ochin-CM4) - RPI Compute Module carrier board dedicated for FC
⟡ APsync (https://ardupilot.org/dev/docs/apsync-intro.html) - Mavlink focused OS for different SBCs.
@@ -342,11 +346,15 @@
Dedicated drones and toolchains to help on a dedicated topic
⟡ Guiness World record drone build (https://www.youtube.com/watch?v=RoSSaSkOTTc) - How a 300mph / 480 km/h quadcopter rocket needs to be designed and build. Similar is the AOSHS5 build (https://www.youtube.com/watch?v=oG2GaSMlfdo) (but only 
200mph).
⟡ Arduino FPV Mini Drone (https://www.instructables.com/Make-a-Tiny-Arduino-Drone-With-FPV-Camera/) - Woodframed mini quad without BLDC and custom RF link around MultiWII
⟡ SearchWing
 (https://www.hs-augsburg.de/searchwing/de/willkommen/) - A Search and Rescue RC airplane for visual inspection of huge areas on sea to rescue people from refugee boats at the EU sea border. Waterproof to land beside the SAR mothership.
⟡ Dronecoria (https://dronecoria.org) - Octocopter made from wood as heavy lift to drop seeds.
⟡ Agilicious (https://agilicious.dev) - 3D printed OSHW drone and ecosystem esp. for CV autonomous agile flight research, 2023
⟡ Crazyflie (https://www.bitcraze.io/documentation/system/platform/) - A not so FPV drone that uses custom modules and different technology for swarm control.
⟡ ESP-Drone (https://github.com/Circuit-Digest/ESP-Drone) - ESP32 and PCB only based quadcopter without FPV but custom wifi on brushed
⟡ ESP32 Drone (https://hackaday.io/project/188578-esp32-drone) - no traditional FPV, but low cost quad using ESP32 board, 2022.
⟡ Wifree-copter (https://open-diy-projects.com/wifree-copter/) - Easy 3D printed copter that uses RPI as WIFI remote control with App, 2016.
@@ -387,8 +395,8 @@
We share the airspace with other pilots. RC copters and planes are hard to spot, so it is recommend to share your position via transponder systems. This allows also tracking of illegal maneuvers.
⟡ ADS-B transmitters of airplanes can be received using software defined radios can be realized using cheap USB DVB-T receivers. Can be integrated via radar extensions like mwp-radar-view 
(https://github.com/stronnag/mwptools/wiki/mwp-Radar-View), Ardupilot ADS-B receiver (https://ardupilot.org/copter/docs/common-ads-b-receiver.html) or in OpenHD. Is part of Mavlink protocol and shows up on most GCS. Can also be viewed 
online like adsb-exchange.com (https://globe.adsbexchange.com/).
(https://github.com/stronnag/mwptools/wiki/mwp-Radar-View), Ardupilot ADS-B receiver (https://ardupilot.org/copter/docs/common-ads-b-receiver.html) or in OpenHD. Is part of Mavlink protocol and shows up on most GCS. Can also be viewed online 
like adsb-exchange.com (https://globe.adsbexchange.com/).
⟡ INAV Radar (https://github.com/OlivierC-FR/ESP32-INAV-Radar) - LORA radio and ESP32 broadcast positions and show it at your OSD.
⟡ FormationFlight (https://formationflight.org/getting-started/) - Wifi radio of ESP32 to broadcast position and telemetry and show it at your OSD.
⟡ SoftRF (https://github.com/lyusupov/SoftRF) - UAV edition, supports also FLARM and more.
@@ -402,8 +410,8 @@
Radio links per se are unsafe and can easily be jammed.
⟡ WTF WJI, UAV CTF? (https://ftp.fau.de/cdn.media.ccc.de/events/camp2023/h264-hd/camp2023-57063-eng-WTF_DJI_UAV_CTF_hd.mp4) - Talk on DJI mini 2 reverse engeniering to bypass manufacturers limitations. Mem dump analysis and crypto keys 
decryption and radio analysis. About DJI ecosystem and used open source components (https://www.dji.com/de/opensource) (cccamp23 by Felix Domke).
⟡ WTF WJI, UAV CTF? (https://ftp.fau.de/cdn.media.ccc.de/events/camp2023/h264-hd/camp2023-57063-eng-WTF_DJI_UAV_CTF_hd.mp4) - Talk on DJI mini 2 reverse engeniering to bypass manufacturers limitations. Mem dump analysis and crypto keys decryption
and radio analysis. About DJI ecosystem and used open source components (https://www.dji.com/de/opensource) (cccamp23 by Felix Domke).
⟡ Drone-ID Receiver for DJI OcuSync 2.0 (https://github.com/RUB-SysSec/DroneSecurity) - Decoding DJI radio transmissions including DroneID and pilot location with SDR in python
⟡ Debugging Microcontrollers  (https://media.ccc.de/v/camp2023-57321-debugging_microcontrollers) - Talk on difficult debugging the PX4 hardware micocontrollers with RTOS NuttX (cccamp23 by Niklas Hauser).
⟡ 5.8GHz video demodulation (https://www.youtube.com/watch?app=desktop&v=rl8ACNnjPFA) - Using hack-rf SDR.
@@ -494,3 +502,5 @@
⟡ Livyu FPV (https://www.youtube.com/c/LivyuFPV/videos) - Flight footage and repair videos for DIY drone electronics.
⟡ Adam G does FPV (https://www.youtube.com/c/AdamGdoesFPV) - Builds, mods and basics.
⟡ BLuefish (https://www.youtube.com/channel/UCmULLc8W-knTqiFqJgw3-FA) - Builds, INAV, longrange.
flyingfpv Github: https://github.com/Matthias84/awesome-flying-fpv