- Run the flight runtime from RTIC with physical sensor input.
- Persist vehicle settings and sensor calibration in board configuration.
- Carry IMU acquisition times, uncertainty and complete sample batches into navigation.
- Add range and optical-flow fusion for local navigation.
- Add hardware motor-output drivers using the existing DShot and PWM code.
- Connect motor outputs to arming, failsafe and command-expiry handling.
- Add private MAVLink commands for arming, disarming and onboard missions.
- Inhibit motors during configuration flash writes.
- Add onboard barometer drivers and shared I2C bus access.
- Add battery-voltage, current and analog RSSI acquisition.
- Add onboard flash storage and blackbox recording.
- Add analog OSD support.
- Add buzzer, LED-strip, camera-control and auxiliary-output drivers.
- Add receiver, GPS, VTX and ESC telemetry support to configurable ports.
- Complete board component identification and peripheral pin maps.
- Add hardware tests for sensor decoding, calibration, timing and recovery.
- Add hardware tests for motor shutdown on reset, missed deadlines and faults.
- Measure startup time, control-loop latency and peak stack under I/O load.
- Verify onboard takeoff, hover, landing and motor shutdown on hardware.