The idea is to use STM32CubeMX to generate the initialization codes, and I tried to make the least changes to those generated files and keep all hardware-related configurations in one file (config.h). So later you can apply the firmware to another type of MCU easily.
Lots of documentation need to be done, but it now can do the hover with a flowdeck (sometimes it may fail to take off, I'll fix it in the future
![:-| :|](./images/smilies/icon_neutral.gif)
Btw, the start address of this firmware is 0x8004000, if it can't start after flashing, maybe you need to check your bootloader.