Prototype 1 - ArduPilot and PX4

starts from the most complete build

The complete build

We found that the most popular build is base on Ardupilot which requires flight controller of 2MB of flash.

Most features supported by Ardupilot and PX4 could be enabled with this RAM budget.

With the fear of crashing, we prioritize the stabiliztion via optical flow for indoor uses.

Does GPS refresh rate matter? Do we really need 10Hz modules?

PX4 FMU 3.x PX4 version 4-6

size constraints: commonly seen compact flight controllers come with size of 30x30mm mounting hole
HDI requirements: multiple layers required for small layout area