Cleanflight is one of many open-source flight controllers widely used in multirotors. Others are Open Pilot (formerly Ardupilot) and derivatives (most notably T

Cleanflight is one of many open-source flight controllers widely used in multirotors. Others are Open Pilot (formerly Ardupilot) and derivatives (most notably Tau Labs / Dronin), as well as Betaflight which is a fork of Cleanflight specifically tuned for first-person view flying. I personally use Betaflight, this is a video of my 180mm quadcopter flying earlier today with the most recent release of Betaflight (2.4.1). The hardest part of using these flight controllers is tuning the PID controller correctly. If you look at my video closely you will notice some oscillations that are the result of less-than-perfect tuning. https://www.youtube.com/watch?v=E2aHSakLWZQ https://www.youtube.com/watch?v=E2aHSakLWZQ