Generated by Doxygen from the sources in 00 - FC_FW/App, with call graphs, include graphs and the source browser. Each module page starts with the @file comment that explains its role. For the architecture, the theory and the procedures, see the documentation site, which links back here.

Folder	Content
`app/`	tasks and glue: `app_main.c` (ImuTask, TelemetryTask), `app_task.c` (protocol v2), `ext_sens.c` (ExtTask), `est_pipeline.c`, parameters, flash image, shared data
`control/`	`fc_core` (flight core), `alt_ctrl` (height loop), `calib_mgr`, `checks`, motors, control hooks
`filters/iekf/`	attitude IEKF on SO(3) and its helpers
`filters/altitude_kf/`	altitude Kalman filter (`alt_est`)
`telemetry/`	frame format, protocol v2 (`proto_v2`), app link, BLE rings, ACK cache, SPSC queue
`drivers/`	portable chip drivers: LSM6DSV16X (+ sensor hub), VL53L1X, flow bridge
`bsp/`	STM32WB55 bindings: I²C + DMA, Qwiic, BLE GATT service, flash with CPU2

Start from fc_core.h (flight core), app_task.h (protocol), alt_est.h and iekf.h (estimators).