Less propwash. Handles wind without retuning. Consistent stick feel from full pack to empty. NexusFlight is a complete FC + ESC firmware stack with a desktop configurator — built from scratch with algorithms that adapt in flight so you spend less time tuning and more time flying.
Currently in hardware integration and flight testing. First flights February 2026. Not recommended for production use yet — beta testers welcome.
From embedded firmware to desktop tooling — every layer built in Rust
From-scratch FC firmware — 132,000+ lines of Rust, 551 tests, 29 boards across 5 MCU families (STM32F405/F411/F722/G473/H743) including HDZero boards. Zero heap allocation.
From-scratch ESC firmware — 31,000+ lines of Rust, 356 tests, 220 board targets across 4 MCU families. Drop-in replacement for BLHeli/AM32.
Cross-platform desktop configurator built with Tauri v2. Lighter and faster than Electron-based configurators.
Pure math flight algorithms library (no_std). Zero hardware dependencies — 401 core tests execute in 40ms on your laptop.
How NexusFlight changes the way your quad flies
Adaptive Kalman gyro filter auto-adjusts to your flying style in real time. No manual filter tuning — it adapts so you don't have to.
ADRC disturbance rejection fights wind gusts and prop wash without you touching a PID slider. Fly through dirty air like it's not there.
Cross-axis decoupling compensates for the roll/pitch wobble that other FCs introduce during fast yaw rotations.
CoreDrive ESC firmware uses true Field-Oriented Control with sinusoidal commutation. Smoother than BLHeli, more efficient than six-step.
Model-based gain scheduling keeps your quad flying the same from a fresh 6S pack to 3.5V per cell. No more mushy end-of-pack handling.
Frequency-domain auto-tune analyzes a blackbox log and calculates optimal PID gains. No guesswork, no test-crash-adjust loops.
What changes when your entire flight stack is built from scratch in Rust
| Capability | Traditional Firmware | NexusFlight Suite |
|---|---|---|
| Language | C (manual memory) | Rust (compile-time safety) |
| Memory Safety | Buffer overflows possible | Guaranteed at compile time |
| Heap Allocation | malloc / dynamic | Zero — fully static |
| Gyro Filtering | Static notch / RPM filter | Auto-adapting — less propwash, less delay |
| Wind & Dirty Air | PID only — retune manually | ADRC handles disturbances automatically |
| Yaw Spins | Roll/pitch wobble during yaw | Cross-axis decoupling — clean spins |
| Auto-Tune | Step response only | One-click from a blackbox log |
| ESC Firmware | Separate project (BLHeli/AM32) | Unified stack (CoreDrive) |
| ESC Control | Six-step trapezoidal | True FOC sinusoidal + six-step |
| FOC Pipeline | N/A | <5 μs (Q15 fixed-point) |
| Configurator | Electron (~200 MB) | Tauri v2 (~19 MB) |
| Test Coverage | Minimal | 551 FC tests, 356 ESC tests |
29 FC boards across 5 MCU families + 220 ESC targets across 4 families
5 MCU families, 29 boards, including HDZero targets
| MCU Family | Core | Boards | Notes |
|---|---|---|---|
| STM32F405 | Cortex-M4 | 10 | SpeedyBee F405 V3/V4/Mini/AIO/Wing, Happymodel, Flywoo, GEPRC, Matek |
| STM32F411 | Cortex-M4 | 5 | BetaFPV F411, HDZero AIO5, Happymodel CrazyBee F4 DX, T-Motor, GEPRC Taker |
| STM32F722 | Cortex-M7 | 2 | Flywoo F722 Pro V2, GEPRC F722 AIO |
| STM32G473 | Cortex-M4F | 5 | Happymodel CrazyBee G473, BetaFPV G473, GEPRC Taker, HDZero Gamma/AIO15 |
| STM32H743 | Cortex-M7 | 7 | HDZero Halo, GEPRC Taker, Sequre H7, Matek, T-Motor Pacer, iFlight Blitz |
Gyroscopes: BMI270, ICM-42688-P | Flight modes: Acro, Angle, Horizon | HDZero digital VTX support
4 MCU families, 220 board targets imported from AM32 database
| MCU | Core | Clock | Control Mode | Targets |
|---|---|---|---|---|
| STM32G071 | Cortex-M0+ | 64 MHz | FOC + Six-step | 48 |
| AT32F421 | Cortex-M4 | 120 MHz | FOC (primary) | 110 |
| STM32F051 | Cortex-M0 | 48 MHz | Six-step | 53 |
| GD32E230 | Cortex-M23 | 72 MHz | Six-step | 9 |
Drop-in replacement for BLHeli_32, BLHeli_S, and AM32. Compatible with BLHeliSuite32 & ESC Configurator.
15 tabs for complete flight controller and ESC management
NexusGround
The details that matter
First flights are scheduled for February 2026. Here's what's coming:
DVR clips and HD footage from first flights on STM32F405 and H743 boards.
Side-by-side blackbox logs vs Betaflight 4.x — same quad, same tune, same conditions.
Adaptive Kalman vs RPM filtering — controlled dive tests with gyro trace overlays.
One-click tune walkthrough from maiden flight to optimized PIDs via blackbox analysis.
We're looking for experienced FPV pilots with supported FC boards to flight test NexusFlight. Download NexusGround to explore the configurator, or reach out to join the beta.