Hi,
I have built a custom FC using STM32F407 dev board, MPU9250 and BMP280. It has 12 PWM outputs, 2 I2Cs and 4 UARTs. I will use it on my quadruped but cannot run lua script because of limited memory size. To resolve this, I am converting quadruped lua script into Rover frame type and adding parameters under FRAME and MOT.
Throttle and steering is working, but roll, pitch and walking height is not working yet. I am using parameters from Rover and not directly mapping RC inputs. How can I make them work using pitch and yaw sticks?
It also needs smooth transitions when arming and disarming and lateral movement like omni wheels is nice 
My source is here : https://github.com/sblaksono/ardupilot/tree/quadruped
Additional settings:
FRAME_TYPE = 4
SERVO1_FUNCTION = 201
SERVO2_FUNCTION = 202
…
SERVO12_FUNCTION = 212
Thanks