MultiWii

MultiWii is an influential open-source flight controller software distributed under GPLv3 license. It is implemented in C++.

MultiWii was started in 2010 by hobbyist Alexinparis when he built his home-made tricopter – TriWiiCopter. The project became mature by 2015. In 2016, development fully shifted to its derivatives.

MultiWii was first ported to 32-bit microcontrollers in a project called Baseflight. It was later forked into Cleanflight, from which Betaflight and iNav derive.

MultiWii popularised the MSP protocol for telemetry and control.

Literature

 * David McGriffy. Make: Drones: Teach an Arduino to Fly. Maker Media, 2016. ISBN 9781680451719