Flight_controller.ino` — Main flight controller sketch (sensor reading, complementary filter / attitude computation, cascaded PID, motor mixing, arming logic, telemetry). setup.ino` — Setup and ...

A compact two‑wheel, self‑balancing robot built around an STM32F407 MCU, an MPU‑6050 IMU for angle sensing, and an L298N dual H‑bridge for motor drive. The firmware runs a 200 Hz control loop with a ...