ardupilot VS amp-hal-st

They are widely used in narrow circles :)

Two of (arguably the best) open source RC aircraft flight controllers (ArduPilot and PX4) are using extended Kalman filters in their state estimators (essentially sensor fusion that provides attitude/position estimate):

https://github.com/ArduPilot/ardupilot/tree/master/libraries...

https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/e...

I'm not that familiar with cleanflight/betaflight/inav scene to know what the FPV racer flight controllers use.

2. https://ardupilot.org/

Trimble also has some nice stuff, I think the BD940 is interesting. I do not know if it's recommended or not, but Ardupilot has a driver for the Septentrio GPS (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_SBF.cpp), as well for Trimble GPS (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_GSOF.cpp). So people have used these brands for drones.

For programmable open source autopilot: Arduino > Ardupilot (https://ardupilot.org).

You might also want to look at something like Ardupilot

I'd like to emphasize the reference to Ardupilot bc there is a lot of material already developed there: a lot about navigation and guidance from UAVs, and the low-level stuff. Check this out

I can recommend having a look at: - https://github.com/philips-software/amp-embedded-infra-lib (stl-like replacement and utility library including a HAL definition - https://github.com/philips-software/amp-hal-st (HAL implementation for STs based on EMiL HAL) - https://github.com/philips-software/amp-preview (a GUI library for STs based on above mentioned repo's)

We want to add G0 and G4 support to https://github.com/philips-software/amp-hal-st you are more than welcome to try it out. We don't have a direct use for them (that is, you won't be working for free for Philips), but we see a lot of opportunities for these chip families to be used by other projects. The new C series night also be interesting for hobbyists (which is one of the reasons we open source this library).

Simple solution: use a global catch-all interrupt handler that asserts when the "to handle" interrupt had no handler assigned :-) like this one https://github.com/philips-software/amp-hal-st/blob/main/hal_st/cortex/InterruptCortex.cpp

If you want examples on how these HAL interfaces are implemented for a range of ST devices then you can take a look at https://github.com/philips-software/amp-hal-st

Using amp-hal-st (https://github.com/philips-software/amp-hal-st) as an example. The easiest way to do it is to call HAL_NVIC_SystemReset();