You're interested in learning about Orca and Ninthware. Here's some information:
Orca is an open-source, aerial robotics platform designed for research and development. It's an unmanned aerial system (UAS) that allows users to create and test their own control algorithms, sensor suites, and applications.
Ninthware is a flight control system designed for drones and other unmanned aerial vehicles (UAVs). It's a popular, open-source flight controller that provides a stable and customizable platform for developers.