https://github.com/makeecat/peng
A minimal quadrotor autonomy framework in Rust (Mac, Linux, Windows)
https://github.com/makeecat/peng
drone quadcopter quadrotor rerun robotics rust uav
Last synced: about 2 months ago
JSON representation
A minimal quadrotor autonomy framework in Rust (Mac, Linux, Windows)
- Host: GitHub
- URL: https://github.com/makeecat/peng
- Owner: makeecat
- License: apache-2.0
- Created: 2024-07-07T19:52:02.000Z (12 months ago)
- Default Branch: main
- Last Pushed: 2025-05-07T21:30:02.000Z (about 2 months ago)
- Last Synced: 2025-05-08T18:50:09.997Z (about 2 months ago)
- Topics: drone, quadcopter, quadrotor, rerun, robotics, rust, uav
- Language: Rust
- Homepage: https://deepwiki.com/makeecat/Peng
- Size: 38.9 MB
- Stars: 661
- Watchers: 16
- Forks: 33
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- Funding: .github/FUNDING.yml
- License: LICENSE-APACHE
- Code of conduct: CODE_OF_CONDUCT.md
- Security: SECURITY.md
Awesome Lists containing this project
README
# [](https://github.com/makeecat/Peng)
[](https://github.com/makeecat/Peng#license)
[](https://crates.io/crates/peng_quad)
[](https://crates.io/crates/peng_quad)
[](https://docs.rs/peng_quad/latest/peng_quad/)
[](https://github.com/makeecat/Peng/actions/workflows/CI.yml)
[](https://deps.rs/repo/github/makeecat/peng)
[](https://discord.gg/NDsZXpGWPR)
## 🔍 Overview
Peng is a minimal quadrotor autonomy framework written in Rust that provides real-time dynamics simulation, trajectory planning, and control with modern visualization capabilities.
[](https://rerun.io/viewer/version/0.22.0/?url=https%3A%2F%2Fyangrobotics.com%2Ffiles%2Fpeng_v0.5.4.rrd)
## 🎯 Key Features
- 🚁 **Real-time Simulation**
- High-fidelity quadrotor dynamics with configurable parameters
- IMU and depth sensor simulation
- Optional RK4 integration for accurate dynamics
- 🎮 **Advanced Control**
- PID control for position and attitude with tunable gains
- Integral windup prevention
- Support for different control frequencies
- 📍 **Rich Trajectory Planning**
- Minimum jerk line trajectory planner
- Lissajous curve planner
- Circular trajectory planner
- Obstacle avoidance planner
- Minimum snap waypoint navigation planner
- Quadratic Polynomial waypoint navigation planner
- Landing planner
- 📊 **Visualization & Debug**
- Real-time 3D visualization via rerun.io
- Depth map rendering
- State telemetry logging
- Configurable logging frequencies
- ⚡ **Performance**
- Memory-safe and Efficient Rust implementation
- Multi-threaded depth rendering
## 🚀 Getting Started
### Prerequisites
- [Rust](https://www.rust-lang.org/tools/install)
- [rerun-cli](https://rerun.io/docs/getting-started/installing-viewer)
### Installation from Crates.io
```bash
cargo install rerun-cli
cargo install peng_quad
peng_quad config/quad.yaml
```
### Installation from Source
```bash
cargo install rerun-cli
git clone https://github.com/makeecat/Peng.git
cd Peng
cargo run --release config/quad.yaml
```
## ⚙️ Configuration
- You can configure the simulation through config file, see [quad.yaml](config/quad.yaml) for example.
- Configure simulation parameters such as mass, inertia, and control gains.
- Configure control parameters such as PID gains.
- Configure trajectory planner parameters such as waypoints, obstacles, and trajectory type.
- Configure visualization parameters such as camera intrinsics and depth rendering.
## 🔧 Rerun Troubleshooting
If you encountered any issue with the rerun:
1. Verify rerun-cli version matches rerun version in [Cargo.toml](https://github.com/makeecat/Peng/blob/main/Cargo.toml):
```bash
rerun --version
```
2. For Linux/WSL2 users, consult the [rerun troubleshooting](https://rerun.io/docs/getting-started/troubleshooting).
## 🗺️ Roadmap
- [ ] Wind field and environmental effects
- [ ] Motor dynamics simulation
- [ ] Multi-quadrotor simulation
- [ ] Model Predictive Control (MPC)
## 🤝 Contributing
We welcome contributions of all kinds! Please check out the [Contributing Guidelines](CONTRIBUTING.md) for more details.
## 📄 License
Peng is free, open source and permissively licensed!
Except where noted (below and/or in individual files), all code in this repository is dual-licensed under either:
- MIT License ([LICENSE-MIT](LICENSE-MIT) or [http://opensource.org/licenses/MIT](http://opensource.org/licenses/MIT))
- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or [http://www.apache.org/licenses/LICENSE-2.0](http://www.apache.org/licenses/LICENSE-2.0))
at your option.
This means you can select the license you prefer!
## 📝 Blog Posts
- [Peng #1: Minimal quadrotor pipeline in Rust](https://yangrobotics.com/peng-1-minimal-quadrotor-pipeline-in-rust)
- [Peng #2: Error Handling, Configuration System and Obstacle Avoidance Planner](https://yangrobotics.com/peng-2-error-handling-configuration-system-and-obstacle-avoidance-planner)
- [Peng #3: Optimization of Depth Rendering and RK4-based Dynamics Update](https://yangrobotics.com/peng-3-optimization-of-depth-rendering-and-rk4-based-dynamics-update)
## 📚 Citation
If you use this project in your research or work, please cite it as follows:
```bibtex
@software{peng_quad,
author = {Yang Zhou},
title = {Peng: A Minimal Quadrotor Autonomy Framework in Rust},
year = {2024},
publisher = {GitHub},
journal = {GitHub repository},
howpublished = {\url{https://github.com/makeecat/peng}},
}
```