RTOS-pilot Flight controller for fixed-wing uav Hardware 3 uart 1 I2C 6 PWM output 9 GPIO MCU stm32f103vct6 mpu-6050 hmc-5883 magnetic sensor ms-5611 baro SD card 24HCxx Epprom ic Configuration 3d pcb design Prototye Uav Manual fight data Flight trajectory Altitude baro vs gps Roll && pitch angle Ground speed from gps Attitude && PID controller Roll axis