F3-copter
                            STM32-F3 Discovery based tricopter
                                    c) Ivan Sevcik, 2013
                       zlib/libpng license  (see LICENSE for details)

F3-copter is a project aimed at creating tricopter controlled by STM32-F3 Discovery board. This board has proven to be great choice as it comes with preequiped 3-axis gyrosensor, accelerometer and magnetometer along with fully featured debugging interface for a very reasonable price. Also the mounted Cortex-M4 MCU with dedicated FPU gives enough computing power for even complex algorithms. The software features following modules:

• RC receiver for controlling tricopter by radio
• UART communicator with custom protocol for commanding the device in real-time
• Sensor readers and filtering
• Engine and servo controll
• PID controller
• Simple math library for 3D vectors Coded for reusability and ease of use, it is also fast and allows for often sensor updates.