https://github.com/myrachane/slyr.cpp
Real-time UAV avionics + AI-driven autonomy framework.by Myrachane
https://github.com/myrachane/slyr.cpp
autonomus drone kernal quadcopter
Last synced: about 2 months ago
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Real-time UAV avionics + AI-driven autonomy framework.by Myrachane
- Host: GitHub
- URL: https://github.com/myrachane/slyr.cpp
- Owner: myrachane
- License: mpl-2.0
- Created: 2026-04-01T09:58:08.000Z (3 months ago)
- Default Branch: main
- Last Pushed: 2026-04-07T15:29:06.000Z (2 months ago)
- Last Synced: 2026-04-07T17:25:41.410Z (2 months ago)
- Topics: autonomus, drone, kernal, quadcopter
- Language: HTML
- Homepage: https://slyr.emtypyie.in
- Size: 261 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# SLYR — System-Linked Runtime
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SLYR is a modular avionics system for autonomous UAVs, built around a dual-compute architecture that separates real-time flight control from high-level autonomy.
---
## Overview
SLYR enforces a strict separation of responsibilities:
* **STM32 (Flight Kernel)** — deterministic, real-time control
* **Raspberry Pi (Autonomy Layer)** — perception, planning, and decision-making
This design improves system stability, safety, and extensibility while enabling advanced autonomy without compromising control integrity.
---
## Product Line
SLYR is designed as a unified platform supporting multiple aerial and flight systems:
* **SLYR-Q** — Quadcopter systems (multirotor UAVs)
* **SLYR-F** — Fixed-wing aircraft systems
* **SLYR-K** — Kinetic launch systems (student rockets)
Each series shares the same core runtime and communication architecture while adapting to platform-specific requirements.
---
## System Architecture
```text id="q7j3z1"
[ Sensors ]
↓
[ STM32 Flight Kernel ]
- State Estimation
- PID Control
- Motor Output
↓
[ Communication Layer ]
↓
[ Autonomy Layer (Raspberry Pi) ]
- Navigation
- Perception
- Decision Engine (SLM)
↓
[ Behavior Manager ]
↓
[ Control Targets ]
↓
[ STM32 Execution ]
```
---
## Core Components
### Flight Kernel (STM32)
* Real-time control loop (~1 kHz)
* Sensor fusion (IMU, GPS, barometer)
* Attitude and rate PID controllers
* Motor output (DShot / PWM)
* Failsafe and watchdog systems
---
### Autonomy Layer (Raspberry Pi)
* Waypoint navigation
* Obstacle detection and avoidance
* Mission planning
* Decision engine (SLM-based or rule-based)
---
### Communication Layer (SLYR Link)
* Custom binary protocol
* UART / SPI transport
* CRC validation
* Heartbeat monitoring and failsafe triggers
---
### Command Shaping Layer
* Input smoothing (curve-based transitions)
* Rate limiting
* Constraint enforcement
Ensures all control inputs remain within safe operational bounds before execution.
---
## Control Interface
```json id="9mz3xn"
{
"roll": 5,
"pitch": 0,
"yaw_rate": 20,
"throttle": 0.6
}
```
---
## Mission Definition
```json id="9v5x7o"
{
"mission": [
{"lat": 22.1, "lon": 88.5, "alt": 20},
{"lat": 22.2, "lon": 88.6, "alt": 25, "action": "HOLD"},
{"lat": 22.3, "lon": 88.7, "alt": 20, "action": "RETURN_HOME"}
]
}
```
---
## Repository Structure
```bash id="f2s9kk"
SLYR/
├── firmware/ # STM32 flight kernel (SLYR Core)
├── autonomy/ # Raspberry Pi services
├── protocol/ # communication specifications (SLYR Link)
├── simulation/ # testing and validation tools
├── groundstation/ # monitoring and control interface (planned)
└── docs/ # system documentation and diagrams
```
---
## Safety Model
SLYR enforces strict isolation between:
* **Decision Layer** (autonomy / AI)
* **Control Layer** (flight kernel)
All incoming commands are:
* validated
* clamped
* smoothed
before being applied to the control system.
The flight kernel retains final authority over actuation.
---
## Development Roadmap
### Phase 1
* Communication layer
* Basic stabilization
### Phase 2
* Attitude control
* Manual flight
### Phase 3
* GPS-based navigation
### Phase 4
* Obstacle detection and avoidance
### Phase 5
* AI-assisted decision integration
---
## Documentation & Updates
For updates, architecture insights, and development logs:
**https://slyr.emtypyie.in**
---
## Disclaimer
This project is intended for research and educational use only.
Ensure compliance with local regulations before deploying on real hardware.
---
## Vision
SLYR aims to provide a unified avionics platform combining:
* Real-time embedded systems
* Autonomous navigation
* Intelligent decision-making
for next-generation aerial and space systems.