I finally reached a massive milestone with the kernel architecture and got the scheduler firing exactly how it needs to. Even though I thought the RTOS portion was completely wrapped up a bit ago, now it is officially done. I ended up doing a massive revamp on how scheduled tasks execute, routing them through PendSV so that the background worker states get completely backed up and saved by my assembly code just like the preemptive ones. I also cleaned up the initialization API by throwing in an overloaded function to separate timed loops from raw hardware events (the interrupt tasks). Overall most of the testing logic is now gone, and now the system is being more and more focused on the actual drone tasks.

On the hardware side of things, I built out the actual drone tasks and the underlying SPI and UART DMA drivers that populate my local data packets. Even though they are not in use right now as all the tasks (which are not fully completed) require the support of each other for full testing.

With the core OS completely checked off, the focus is shifting entirely over to the actual flight control logic. Over the next couple of days, I’m going to wrap up the final flight controller tasks, and get the core stabilization algorithms running. Once the flight controller application layer is fully put together, I’m moving straight onto building out complete simulations for the receiver, transmitter, and finally the ESC modules to get the whole drone network interacting together!