Welcome, Pteronaut.

Open-source firmware for servo-driven ornithopters — built on ExpressLRS.

🌐 Documentation & Website — EN · PT

PteronautOS replaces the traditional fixed-wing flight controller with an adaptive flapping oscillator built directly into the receiver. No intermediate FC required. The radio link directly drives the wings.

Features

• Adaptive Flapping Oscillator — configurable waveform, amplitude, and frequency per channel
• Automatic Gliding — wings lock at neutral below throttle threshold (with hysteresis)
• Zephyrus Gyro Stabilization — MPU6050-based crest rudder correction for roll + yaw stability
• Failsafe — wings return to neutral on link loss, re-arm on reconnect
• Direct PWM Output — drives two wing servos + rudder + auxiliary channels
• Minimal Footprint — non-essential ELRS modules stripped (Telemetry, Baro, VTX, Thermal, Serial1)

Build

The one-command path builds the WebUI, compiles the firmware, and flashes it: