Replacing the STM32F405 by a powerful SoC

[mark]

Crazyflie is great. Both hardware and software are open source. Thus, it's an ideal platform for research. However, the MCU performance limits the use of more advanced and performance hungry control algorithms based on online optimization and dynamics models which are solved at runtime. Have you considered replacing the STM32F405 by a more powerful SoC such as Xilinx' Zynq XC7Z010 which is used in the Phenox2?