This week was heavily focused on the fine tuning and organization of the RTOS. I spent numerous hours of research and untangling environment setups. I originally tried to build out a complete framework for the drone code without relying on any simulation code, but Renode’s restrictions, specifically with its ability to perform DMA requests, quickly made it clear that path was impossible. To fix this I’m looking into picking up a dev board and a Raspberry Pi so I can test and debug everything on an actual MCU before finally moving the codebase over to the drone. Even though the git won’t look a whole lot different and not a lot of actual code changed, getting these configs finalized (especially in STM32CubeMX) in was a huge step forward for the project. I expect to commit the next version of the code either today or tomorrow, with improvements specifically in TelemetryTX, BlackBoxLogging, and a few other minor changes!