Teensy 4.1 Flight Controller Firmware

C++, Embedded Systems, Control Theory — Jan. 2026

Custom flight controller firmware developed on Teensy 4.1 for a Quad-X drone, implementing a full 400Hz PID stabilization loop.

Key Features:

  • 400Hz PID control loop for Quad-X stabilization
  • Madgwick sensor fusion for precise attitude estimation (MPU6050 IMU)
  • Real-time RC signal noise filtering
  • Safety arming logic and optimized Serial plotting at 500k baud for PID tuning and diagnostics

Technologies: C++, Teensy 4.1, MPU6050, PID Control, Madgwick Filter, Embedded Systems