Excitablecell/GEARdrones ? reverse-engineered prompt

Build me a lightweight drone swarm control system for low cost quadcopters, with everything tied together in one project.

I want firmware for the flight controller on STM32, a UWB based relative localization algorithm for multi drone positioning when GPS is not available, and a simple desktop app for monitoring and control. The app should show the drones status clearly, let me connect to an MQTT server, and help me watch the swarm in real time. If helpful, also include the basic MATLAB simulation for the localization part and keep the hardware and enclosure files organized so the whole project feels complete.

Please make it practical and easy to run for a small research or hobby team, with clear setup steps and sensible defaults. If you need to, look up current docs online for STM32, MQTT, or PyQt5 so the project is up to date.