I will be using STM32F4 microcontroller for my senior project of drone autopilot. It would be good for me if we use it here too so I could help you.
We will have an IMU for a stable flight and 5 ultrasonic sensors to avoid obstacles around the drone. We can decide the GPS and IMU modules. We have not decided which IMU module to use. I have a MPU6050 but it uses I2C communication and it is hard for me to use I2C communication with HAL Library on STM32. Maybe someone can help me about that?