Technical Reference

Developer documentation for the firmware: how its internals work, and how to build, customise and debug it. These pages used to live in the firmware repository's docs/ folder.

Some of them describe mechanisms Rotorflight inherited from Betaflight and Cleanflight, and still mention those projects; the concepts still apply.

Page	About
Parameter Groups	How settings are stored and versioned.
Configuration Format	The structure of the stored configuration.
Atomic Barrier	The ATOMIC_BLOCK and barrier macros.
Customizing the Build	Choosing which features go into a build.
Custom Board Configuration	Defining a board's pins and devices with the CLI.
Blackbox Log Format	How Blackbox logs are encoded.
Governor Reference	Governor modes, states and every setting in detail.
SmartFuel Internals	The SmartFuel charge estimator in detail.
Hardware Debugging	Debugging on the board with a debug probe.
Debugging with VS Code and J-Link	A VS Code set-up for the above.
Test Coverage	Measuring unit test coverage.
Modeling Cross-Coupling	Theory behind cyclic cross-coupling compensation.

For using the governor, see Governor.