Roadmap

v0.1

• Initial fully-functional C implementation

v1.0

• C++ port
• State manager (implemented as finite state machine)
• Motor assignment renumbering
• Mixer renumbering
• Unit tests
• Bug fixes
• Sensor outlier rejection

v1.1

• Comm link layer abstraction
• Strict compilation
• C++ math library
• Interface structure as per Shital's suggestion?

v1.2

• Fixed-wing attitude estimation and control
• Auxiliary servo override functionality

v1.3

• GPS?
• Full state estimator, vehicle1-frame velocity controller, altitude controller?

v1.4

• Sensor driver abstraction (e.g. common MPU6050 driver uses common I2C driver interface implemented for each board)
• Port to STM32F4 processors and Pixhawk autopilot