EmuFlight is a real-time embedded flight controller firmware for multirotor drones, forked from Betaflight/Cleanflight. It runs on STM32F4/F7/H7 microcontrollers, providing sensor fusion (gyro, accelerometer, barometer, GPS), PID control, motor mixing, telemetry, and on-screen display. The architecture is bare-metal with a cooperative scheduler, modular driver abstraction (vtable patterns for serial ports, displays, VTX, sensors), and a persistent parameter group (PG) configuration system. Key data flows: sensor inputs → Kalman/dynamic notch filters → PID → mixer → motor outputs; RC input via various protocols; telemetry/blackbox logging output. External dependencies include STM32 HAL, CMSIS DSP, and MAVLink libraries. The codebase is well-structured with unit tests (Google Test) and CI, though it retains some legacy drivers and conditional complexity from the Betaflight lineage.