# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: ziFly Quadcopter Flight Controller
summary: A quadcopter flight controller based on STM32F103 with remote control, PCB, 3D models, and ROS 2/PX4 simulation support.
category: drone
difficulty: intermediate
license:
  hardware: NONE
  software: NONE
source:
  repository: https://github.com/zirun672/zifly-flight-controller
  ref: ab687f7c60b064f929e25688b4257e17c3a053b4
tools:
  - 3D printer
  - soldering iron
  - Keil MDK-ARM 5
  - ST-Link or J-Link programmer
  - SolidWorks
  - PCB design software (嘉立创 EDA)
  - ROS 2
  - PX4 Autopilot
  - Micro XRCE-DDS Agent
files:
  cad: 无人机3D模型/ljr号无人机/ljr号无人机/
  images:
    - PCB/PCB_PCB2_5_2026-08-14.png
software:
  framework: ros2
build_steps:
  - title: Assemble the quadcopter frame using 3D models
  - title: Solder components onto the flight controller PCB
  - title: Solder components onto the remote control PCB
  - title: Flash the flight controller firmware using Keil MDK
  - title: Flash the remote control firmware using Keil MDK
  - title: Perform initial power-on checks
  - title: Calibrate sensors and flight parameters
  - title: Set up ROS 2 and PX4 simulation environment
  - title: Test flight controller in simulation