CONTROL CORE
FIRMWARE SUITE
India's first modular, multi-mode flight controller software stack
Configurator
Target Board
Default Flight Mode
Auxiliary Modules
CLI Command
marut-fcu-cli compile --board=marut-v1 --mode=quad --with-gps
Compiler Shell (Marut CLI toolchain)
Status: Ready to flash target
Control Algorithms & Architecture
PID Loop Rates
Firmware operates at 4kHz loop frequency. High-precision sensor polling handles gyro calculations in hard real-time interrupt priorities.
Tri-Mode Kernel
Shared controller parameters allowing smooth flight dynamics switching for multirotors, fixed-wing airframes, and complex transitional VTOL structures.
Blackbox Analytics
High-speed logging onto standard SPI flash chips. Logs include gyroscope data, setpoints, RC commands, and PID outputs for tuning analysis.
Open SDK Interface
Written completely in clean ANSI C. Fully compatible with GCC compiler pipelines and customizable for educational and industrial research.
RELEASES & BUILD HISTORY
v1.2.0-beta
BETAMay 2026- Added Fixed-Wing control module with manual/altitude flight modes.
- Implemented ICM-42688-P inertial sensor drivers via high-speed SPI.
- Fixed calibration routine drift issues during board initialization.
v1.1.0-stable
STABLEFebruary 2026- Stable launch version for multirotor operations.
- Robust telemetry configurations supporting FrSky/FlySky protocols.
- Optimized PID cascade scheduler for STM32F405 microcontroller.