# cleanflight/cleanflight

Clean-code version of the baseflight flight controller firmware

Repository: https://github.com/cleanflight/cleanflight
Canonical: https://ross.abutalabs.com/products/cleanflight
Homepage: http://cleanflight.com
Language: C
License: GPL-3.0
License Family: copyleft
Topics: flight-controller, cleanflight, betaflight, inav, quadcopter, embedded
Last push: 2023-10-20T18:37:55+00:00

## Health v2 (maintenance only)
Score: 23/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 8, longevity 100
- inputs: {"age_days": 4907, "days_push": 1048, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 2732, forks 1370 (observed 2026-08-28T04:07:16.164435+00:00)

## What it is
Cleanflight is open-source flight controller firmware for multi-rotor and fixed-wing aircraft, written in C for STM32-based boards. It is a clean-code rewrite of baseflight/MultiWii and the ancestor of Betaflight and iNav.

## Use cases
- flash firmware onto an STM32 flight controller board for a quadcopter
- configure PID tuning and flight modes for a multirotor
- set up DShot motor protocols and serial receivers like SBus or Spektrum
- log blackbox flight data to onboard flash or microSD
- control RGB LED strips and OSD on a drone
- build custom flight controller firmware for a fixed-wing plane

## When to choose
- you want proven, community-driven firmware for STM32 F3/F4/F7 flight controllers
- you need broad support for receivers, telemetry protocols, and motor protocols
- you want the historical base for understanding Betaflight or iNav codebases

## When to avoid
- you want the most actively developed firmware - use Betaflight or iNav instead
- you need support for non-STM32 or very recent hardware
- you need end-user support via GitHub issues, which is explicitly not offered

## Facets
- artifact type: application
- maturity: maintenance
- function: embedded, simulation, monitoring, logging
- domain: embedded-systems, robotics, hardware
- platform: embedded, cpp, c
- tags: flight-controller, quadcopter, drone, firmware, multirotor, stm32, betaflight, inav, fixed-wing, dshot, osd, real-time

## Member repositories
- cleanflight/cleanflight (main) score 23

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:07:16.164435+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T02:14:38.112233+00:00, confidence not recorded.
  - readme: https://github.com/cleanflight/cleanflight (fetched 2026-08-28T04:07:16.164435+00:00, sha 4087530e28eb)
  - homepage: http://cleanflight.com (fetched 2026-08-29T09:57:36.988196+00:00, sha bc3cd524dbd2)
- Data as of 2026-08-30T08:39:29.467469+00:00.