> ## Documentation Index
> Fetch the complete documentation index at: https://docs.intrusiverobotics.com/llms.txt
> Use this file to discover all available pages before exploring further.

# License

> Licensing terms for the Intrusive Robotics Delta firmware.

The Delta firmware is licensed under the **GNU General Public License, version 3 (GPL v3)**.

## Why GPL v3

The Delta firmware is a derivative work of the [VESC project](https://github.com/vedderb/bldc) (`vedderb/bldc`), which is itself licensed under GPL v3. The license carries forward to derivative works, so the Delta firmware is distributed under the same terms.

> **[Full license text](https://www.gnu.org/licenses/gpl-3.0.en.html)**
>
> GNU General Public License v3.0 — gnu.org

## What this means for you

> **You can use it**
>
> Run the firmware on your hardware, commercially or otherwise, without restriction or fee.

> **You can modify it**
>
> Change the source however you like for your own use.

> **If you distribute it, you must share source**
>
> Distributing the firmware — modified or not, on its own or loaded onto hardware you sell — obliges you to make the corresponding source available to the recipient under GPL v3, including your modifications.

> **It comes with no warranty**
>
> The GPL disclaims all warranties. The firmware is provided as-is. See sections 15 and 16 of the license text.

## Source

> **[Delta firmware](https://github.com/IntrusiveRobotics/Delta)**
>
> github.com/IntrusiveRobotics/Delta

> **[Upstream VESC project](https://github.com/vedderb/bldc)**
>
> github.com/vedderb/bldc

See [provenance](https://docs.intrusiverobotics.com/legal/provenance.md) for what the Delta firmware derives from and how it differs, and [trademarks](https://docs.intrusiverobotics.com/legal/trademarks.md) for the VESC® trademark position.

> [!NOTE]
>
> This page summarises the license in plain terms for convenience. **The [full GPL v3 text](https://www.gnu.org/licenses/gpl-3.0.en.html) is the governing document** — where this summary and the license differ, the license controls.


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