I am author of mechanical and electrical design and author of majority of source code. 

I used following libraries with corresponding licenses:

- STM32F4xx HAL Drivers - Redistribution and use in source and binary forms, with or without modification, are permitted provided that the some conditions are met.

- Library for our Adafruit 16-channel PWM & Servo driver - Written by Limor Fried/Ladyada for Adafruit Industries. BSD license.

- I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation - code is placed under the MIT license, Copyright (c) 2012 Jeff Rowberg