Crate embedded_flight

embedded-flight

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

Examples

For more check out the basic or quad examples on GitHub.

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

use embedded_flight::copter::{MultiCopter, multi_copter_tasks};
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));

// Initialize the tasks to run from the scheduler
// By default this will stabilize the attitude
let mut tasks = multi_copter_tasks();

// Create the quad-copter
let mut copter = MultiCopter::new(motors, imu, &mut tasks, clock, 400);

// Run the tasks in the scheduler and output to the motors in a loop
drone.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);

Re-exports

pub use embedded_flight_control as control;

pub use embedded_flight_core as core;

pub use embedded_flight_motors as motors;

pub use embedded_flight_scheduler as scheduler;

pub use copter::MultiCopter;

Modules

copter