Software changes for ornithopters

As can be read at (page 8 to 12), it is clear that ornithopters require a few changes to be of use. Robird doesn’t need to be supported (since that ornithopter can’t be bought ) but a set of software changes (similar to the changes done for robird) could be developed for Kestrel-type ornithopters (glide mode doesn’t need to be supported, just the different control method should). The Kestrel (like the robird ?) doesn’t have a rudder btw. More info on the kestrel / ornithopters in general is available at

Since robotic birds benefit greatly from a flight controller (preferably a lightweight one like the openpilot), making these software changes available for download from the wiki or website, … would be very useful.