embedded-flight

A #![no_std] flight software library for embedded rust

Examples

For more check out the basic example on GitHub.

Create and run a [MultiCopter] from a motor matrix, inertial sensor, clock, and frequency (in hz).

use embedded_flight::MultiCopter;
use embedded_flight::motors::MotorMatrix;

// Create a quad-copter motor matrix from 4 ESCs
let motor_matrix = MotorMatrix::quad(ESC(0), ESC(1), ESC(2), ESC(3));

// Create the quad-copter
let mut copter = MultiCopter::new(
motor_matrix,
ExampleInertialSensor,
ExampleClock,
400
);

// Run the tasks in the scheduler and output to the motors in a loop
// By default this will stabilize the attitude
copter.run();

Use the lower level MultiCopterAttitudeController to get the motor output for a desired attitude:

use embedded_flight::control::attitude::MultiCopterAttitudeController;
use nalgebra::{Vector3, Quaternion};

let mut controller = MultiCopterAttitudeController::default();

// Input the desired attitude and angular velocity with the current attitude
controller.attitude_controller.input(
Quaternion::default(),
Vector3::default(),
Quaternion::default(),
);

// Output the control to the motors with the current gyroscope data.
let output = controller.motor_output(Vector3::default(), 1);
dbg!(output);