{"id":15048951,"url":"https://github.com/ctlst-tech/uas-catpilot","last_synced_at":"2026-03-04T09:02:25.638Z","repository":{"id":64838599,"uuid":"577318253","full_name":"ctlst-tech/uas-catpilot","owner":"ctlst-tech","description":"CatPilot is a hardware and OS agnostic drone's autopilot software stack. It is designed for faster creation of scalable distributed control systems for mission-critical applications. 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And\nthe minimalistic generalized C-language codebase to execute it for real-time mission-critical applications.\n\n# Key features\n- written in C language;\n- extends via atomic functions - reusable blocks with supporting code generation from formal description;\n- integrates to the specific vehicle by XML-shaped DSLs, which are orchestrated by model-based design tools;\n- provides hardware and OS-agnostic stack that can easily migrate from one hardware to another while growing\n  from prove-of-concept prototype to the certification grade solution;\n- provides services for telemetry transmission, logging and visualization.\n\n## Atomic functions\n\n\u003cdetails\u003e \n\u003csummary\u003e1. Create formal representation\u003c/summary\u003e \n\n```python\n\nfrom fspeclib import *\n\nFunction(\n    name='core.quat.prop',\n    title=LocalizedString(\n        en='Propagate quaternion'\n    ),\n    inputs=[\n        Input(\n            name='omega',\n            title='Angular rate vector',\n            value_type='core.type.v3f64'\n        ),\n\n        Input(\n            name='q0',\n            title='Initial quat',\n            value_type='core.type.quat'\n        ),\n\n        Input(\n            name='q',\n            title='Recurrent quat',\n            value_type='core.type.quat'\n        ),\n\n        Input(\n            name='reset',\n            title='Reset',\n            description='Command for re-initializing output quat by q0',\n            value_type='core.type.bool',\n            mandatory=False\n        ),\n    ],\n    outputs=[\n        Output(\n            name='q',\n            title='Updated quat',\n            value_type='core.type.quat'\n        ),\n    ],\n    state=[\n        Variable(\n            name='inited',\n            title='Initialized flag',\n            value_type='core.type.bool'\n        ),\n    ],\n\n    injection=Injection(\n        timedelta=True\n    )\n)\n```\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003e2. Generate integration software and the implementation stub \u003c/summary\u003e\n\nSimply run:\n```bash\nfspecgen.py --code --cmake --f_specs_dirs project:./atomics/ catpilot:catpilot/atomics/ catom:catpilot/c-atom/atomics/\n```\nCheck Manual for details [documentation](https://docs.ctlst.app/catom/atomic-functions.html) for details \n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003e3. Implement behaviour\u003c/summary\u003e\n\n```c\n#include \"core_quat_prop.h\"\n\nvoid core_quat_prop_exec(\n    const core_quat_prop_inputs_t *i,\n    core_quat_prop_outputs_t *o,\n    core_quat_prop_state_t *state,\n    const core_quat_prop_injection_t *injection\n)\n{\n    if (i-\u003eoptional_inputs_flags.reset) {\n        if (i-\u003ereset) {\n            state-\u003einited = 0;\n        }\n    }\n\n    if (state-\u003einited == FALSE) {\n        o-\u003eq = i-\u003eq0;\n        state-\u003einited = 1;\n    } else {\n        o-\u003eq.w = i-\u003eq.w + -0.5 * ( i-\u003eq.x * i-\u003eomega.x + i-\u003eq.y * i-\u003eomega.y + i-\u003eq.z * i-\u003eomega.z ) * injection-\u003edt;\n        o-\u003eq.x = i-\u003eq.x +  0.5 * ( i-\u003eq.w * i-\u003eomega.x + i-\u003eq.y * i-\u003eomega.z - i-\u003eq.z * i-\u003eomega.y ) * injection-\u003edt;\n        o-\u003eq.y = i-\u003eq.y +  0.5 * ( i-\u003eq.w * i-\u003eomega.y + i-\u003eq.z * i-\u003eomega.x - i-\u003eq.x * i-\u003eomega.z ) * injection-\u003edt;\n        o-\u003eq.z = i-\u003eq.z +  0.5 * ( i-\u003eq.w * i-\u003eomega.z + i-\u003eq.x * i-\u003eomega.y - i-\u003eq.y * i-\u003eomega.x ) * injection-\u003edt;\n    }\n}\n\n```\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003e4. Integrate and reuse easily\u003c/summary\u003e\n\n```xml\n\u003cf name=\"integrate_att\" by_spec=\"core.quat.prop\"\u003e\n    \u003cin alias=\"wx\"\u003eomega_x/output\u003c/in\u003e\n    \u003cin alias=\"wy\"\u003ezero/output\u003c/in\u003e\n    \u003cin alias=\"wz\"\u003ezero/output\u003c/in\u003e\n    \u003cin alias=\"q0\"\u003einitial_euler/q\u003c/in\u003e\n    \u003cin alias=\"q\"\u003enorm_att_quat/q\u003c/in\u003e\n\u003c/f\u003e\n```\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003e5. Check existing atomic functions catalog\u003c/summary\u003e\n\n[Catalog's link](https://docs.ctlst.app/atomics-catalog/catom-atomic-catalog.html)\n\n\u003c/details\u003e\n\n\n## DSL based integration\n\nDefine top level behavior in the problem-oriented notation:\n\n- **swsys** - software system description layer; allocates functions and other blocks into tasks and processes.\n- **flow** - block to arrange computational graphs as a sequence of atomic reusable functions.\n- **fsm** - finite state machine notation, operates by states, transitions and actions on states and transitions.\n- **ibr** - interface bridge - designed to take care of converting information from and to other devices.\n\n\u003cdetails\u003e\n\u003csummary\u003eMore info\u003c/summary\u003e\n\n[Documentation](https://docs.ctlst.app/catom/intro.html)\n\n\u003c/details\u003e\n\n\n## Model-based design representation\n\nView this GitHub project in [C-ATLAS](https://s1.ctlst.app/p/STGhxorC)\n\n### Target's software system outlook\n![Software system](doc/catlas-swsys.png)\n\n### Atomic function orchestration outlook\n![Functional flow](doc/catlas-flow.png)\n\n### Hardware integration outlook\n![Hardware schematic](doc/catlas-hw.png)\n\n## Quick control interfaces creation\n\nCheck [documentation](https://docs.ctlst.app/uas-catpilot/gui-creation.html) for more info\n\n![Vizialization tools](doc/eswbmon.png)\n\n\n# Quick start and documentation\n\n[Quick start manual](https://docs.ctlst.app/uas-catpilot/quick-start.html)\n\n[Documentation](https://docs.ctlst.app/uas-catpilot/intro.html)\n\n# Hardware support\n\nCatPilot supports:\n1. [CubePilot](https://www.cubepilot.com/) \n2. [Catalyst Aerospace Technologies devices family](https://ctlst.tech/catalog/)\n\n# Project structure\n\n![Software architecture](doc/catpilot-structure.jpg)\n\nThis repository is created to collaborate on functions and configurations\nfor Unmanned Aerial Systems, while hardware and platform related software is implemented \nin [catpilot repo](https://github.com/ctlst-tech/catpilot). CatPilot relates on \n[C-ATOM](https://github.com/ctlst-tech/c-atom) library for its generic functionality.\nCore platform-agnostic middleware is the \n[Embedded Software Bus (ESWB)](https://github.com/ctlst-tech/eswb) library.\n\n\nThe project intends to separate knowledge is well-defined related and easily reusable modules.\n\n# How to contribute\n\n1. Join [Discord](https://discord.gg/yn3fm8bjWU), ask questions, raise issues\n2. Create UAS-specific or generic atomic functions\n3. Extend the list of the supported hardware (by the way, C-ATOM is application agnostic embedded stack)\n4. Help to make the documentation crystal clear by adjusting the text or highlighting grey spots and problems\n\n# Join the community\n\n[Discord group](https://discord.gg/yn3fm8bjWU)\n\n[\u003cimg alt=\"logo_discord.png\" src=\"doc/logo_discord.png\" width=\"100\"/\u003e](https://discord.gg/yn3fm8bjWU)\n\n# Follow the updates\n\n- [Twitter](http://twitter.com/ctlst_tech)\n- [LinkedIn](https://www.linkedin.com/company/ctlst-tech/)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fctlst-tech%2Fuas-catpilot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fctlst-tech%2Fuas-catpilot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fctlst-tech%2Fuas-catpilot/lists"}