ACFLY A9 Multirotor Autopilot Flight Controller – No APM/Pixhawk Required | Open Source UAV Controller for Developers and Industry

Overview

The ACFLY A9 Autopilot Flight Controller is a next-generation multirotor UAV control system designed for reliable autonomous flight. Unlike traditional APM or Pixhawk-based systems, the A9 integrates its own flight algorithms and sensor fusion mechanisms, offering unmatched simplicity, precision, and developer flexibility. It’s built on a powerful STM32H743VIT6 processor and supports advanced ADRC control, real-time sensor health monitoring, and secondary development via over 100 SDK APIs.

Whether for aerial mapping, agricultural spraying, education, or emergency inspection, the A9 flight controller delivers professional-grade performance in a compact, open-source platform.

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Key Features

• ✅ No Pixhawk / No APM Required – Independent autopilot flight controller with built-in core algorithms

• ✅ ADRC Single Parameter Tuning – Fly stably without complex PID adjustments

• ✅ Intelligent GPS + IMU Compensation – Enhances positioning reliability even in magnetic interference

• ✅ Sensor Health Fusion System – Real-time vibration and status monitoring across multiple sensors

• ✅ Secure and Fast Secondary Development – Open-source SDK with FreeRTOS OS, over 100 API functions

• ✅ USB Virtual Drive – Plug-and-play log & POS data export

• ✅ Cross-Compatible GCS Support – ACFLY GCS, QGroundControl (QGC), Mission Planner

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Advanced Technologies

🔧 Adaptive Single-Parameter Tuning

• One adjustable parameter for simple configuration

• Verified on over 20,000+ multirotor UAVs

• Supports aircraft with 250mm–1800mm wheelbase

📡 Multi-Sensor Fault Detection & Fusion

• Vibration Detection: Identifies abnormal signals from IMU, GPS, and barometers

• IMU Position Prediction: Maintains stable flight in GPS-denied or turbulent conditions

• Sensor Health Evaluation: Automatically chooses optimal sensors in real-time

🎯 Precision Offset Compensation

• Corrects GPS/optical flow sensor offset from flight controller

• Real-time installation error correction using deviation compensation algorithms

• Prevents critical flight incidents due to sensor misplacement

💻 Developer-Ready Open Architecture

• Open-source flight code with clear structure

• Over 100 SDK functions for custom integration

• Secure logic for reliable secondary development

• Compatible with Keil MDK, OpenMV IDE, and standard debug tools

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Technical Specifications

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Ground Station Support

• 🛰️ ACFLY GCS PRO – Full telemetry, status monitoring, mission planning, waveform analysis

• ✅ Compatible with QGroundControl (QGC)

• ✅ Compatible with Mission Planner

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Ideal Applications

• 📡 UAV education & academic research

• 🌾 Agricultural spraying & precision farming

• 🧭 Aerial mapping & surveying

• 🚨 Emergency inspection & industrial use

Details

ACFLY A9 flight controller provides single-parameter tuning, GPS compass correction, rapid development, multi-sensor fusion, bias compensation, and USB virtual disk for stable, versatile drone operation.

A9 multirotor autopilot controller supports up to 8 axes, with STM32H743VIT6 MCU, 8MB flash, 32GB TF storage, GPS, and various interfaces. Dimensions: 63x43x18mm (main control), weight: 40g. Operating temperature: -20°C to 50°C.

A9 Multirotor Autopilot Flight Controller interface provides global map, flight data, vehicle parameters, calibration options, and mission planning for precise drone control.

ACFLY A9 wiring diagram includes flight controller, GPS, PMU, battery, motors, ESCs, data link, laser, optical flow, GCS Pro, OpenMV IDE, and Keil MDK connections.

ACFLY A9 Multirotor Autopilot Flight Controller offers compass anomaly correction, multi-sensor fusion, single-parameter adjustment, 65536 waypoints, and ultra-fast secondary development. It connects via USB, SD, CAN, SBUS, PWM, supporting telemetry and control. Designed for advanced drone enthusiasts and developers needing customizable flight solutions. Contact via QQ group 180319060 or search ACFLY on Bilibili for more details.

Performance is stronger. Utilizes ultra-high-performance STM32H743VIT6 with a clock speed up to 480MHz, featuring 16kbyte L1 Cache and double-precision floating-point hardware processor, meeting most computational needs. Highlights include an ultra-high-performance main control chip, separate high-performance IMU, eight resistors for whole-board constant temperature, and a rich variety of onboard external device interfaces. This advanced flight controller ensures superior stability and efficiency for multirotor autopilot systems.

Smart compass correction ensures stable flight in inaccurate, interfered, or no-compass conditions. Real-time calibration and GPS analysis maintain optimal navigation performance.

Multi-sensor fusion ensures stable positioning. Real-time monitoring, IMU prediction, and health integration optimize performance for superior flight quality.

Redefines single parameter adjustment. Default settings tested on 250mm–1800mm multirotors, over 20,000 flights, ensuring safe takeoff and controllable flight. Parameters easily adjustable for optimal performance. **Rewritten (37 words):** Single parameter adjustment redefined. Tested on 250–1800mm multirotors, over 20k flights, ensuring safe takeoff and control. Easy tuning for optimal performance.

Sensors and flight control drift compensation are supported. External sensors like GPS and optical flow have drift compensation, ensuring installation bias does not affect flight accuracy. Real-time error correction algorithms fix sensor and flight controller installation errors, preventing crashes due to such issues. This feature enhances reliability and precision in multirotor autopilot systems, making flights safer and more accurate regardless of component placement.

Ultra-fast secure secondary development. Open-source code offers clear architecture, over 100 SDK functions, and unique security mechanisms for safer, faster customization using Keil MDK.

ACFLY ground station supports mainstream software. Features include attitude viewing, waypoint planning, data analysis, parameter adjustment, and calibration for remote control and ESC. Compatible with ACFLY, QGC, and MP ground stations.

Flight control kit includes A9 controller, USB cable, and GH 1.25 4 pin lines. Optional PMU module and 1.3-inch display add power monitoring and status info.