Nøtta Flight Computer Firmware

A flight controller firmware for Teensy 4.1 using FreeRTOS with modular task-based architecture.

File Structure Format

Ratatoskr-FC-Notta/
|- src/                      <- header/implementation files
|  |- main.cpp               <- main entry point
|  |- tasks/                 <- task implementations
|  |  |- SomethingTask.h
|  |  |- SomethingTask.cpp
|- lib/                      <- project libraries
|  |- sensors/               <- sensor implementations
|- include/                  <- project configuration headers / other useful headers
|  |- pins.h
|  |- config.h
|- platformio.ini            <- PlatformIO configuration

Build & Setup

The easiest way to build and run this project is through the PlatformIO extension installed in either VSCode or CLion. Alternatively, use the instructions below.

Prerequisites

• PlatformIO installed
• Teensy CLI tools for uploading

Building

# Build the project
pio run

# Upload to board
pio run --target upload

# Open serial monitor
pio device monitor

Architecture

TODO: update with FreeRTOS structure?

The firmware uses FreeRTOS with separate tasks:

• SensorTask: Reads IMU and environmental sensors
• FilterTask: Processes sensor data
• ActuationTask: Controls outputs
• LogTask: Data logging
• RadioTask: Wireless communication