├── .gitignore ├── AUTHORS ├── LICENSE ├── LICENSE-UMN.txt ├── NEWS.md ├── README.md ├── TODO ├── docs ├── README-beaglebone.md ├── README-omega2.md ├── README-qemu.md └── README-sik-radiomodem.md ├── extras ├── acinclude.m4 ├── autogen.sh ├── configure.ac └── src │ ├── autohome │ ├── Makefile.am │ ├── autohome.py │ └── fgtelnet.py │ ├── benchmarks │ ├── Makefile.am │ ├── RESULTS.txt │ ├── i2c_bmp085.c │ ├── i2c_mcp3427.c │ ├── spiread.c │ └── whetstone.c │ ├── dynamichome │ ├── DEPRICATED │ ├── Makefile.am │ ├── README.TXT │ ├── dynamichome.cpp │ └── main.cpp │ ├── gps_config │ ├── Makefile.am │ ├── gps_ublox_config.cpp │ ├── strutils.cpp │ ├── strutils.h │ ├── timing.cpp │ ├── timing.h │ └── ublox8-config.txt │ ├── uartlogger │ ├── Makefile.am │ └── uartlogger.cpp │ └── uartserv │ ├── Makefile.am │ ├── netChannel.cpp │ ├── netChannel.h │ ├── netbuffer.cpp │ ├── netbuffer.h │ ├── serial.cpp │ ├── serial.h │ ├── uartserv.cpp │ └── ul.h ├── scripts ├── NavPy │ ├── TODO │ ├── archive │ │ ├── mag.py │ │ ├── magcal_ekf.py │ │ └── magcal_ellipse.py │ ├── convert-apm2umn.py │ ├── demo_avior.py │ ├── demo_c172.py │ ├── estimate_imu_errors.py │ ├── fit_imu_scale.py │ ├── gen_imu_bias_vs_temp.py │ ├── imucal.py │ ├── insgps_quat_15state.py │ ├── loading_mat_data.py │ ├── navpy.py │ ├── transformations.py │ └── wgs84.py ├── admin │ ├── bb-show-serial.sh │ ├── dot.profile │ ├── setup-ad-hoc.sh │ ├── setup-gpsd.sh │ ├── setup-net-date.sh │ └── touch-up-bad-dates.sh ├── gnuplot │ ├── accelerometers │ ├── altitudes │ ├── attitude │ ├── flight-path │ ├── gyros │ ├── launch │ ├── position │ ├── power │ ├── target-altitude-pitch │ ├── target-altitude-thr │ ├── target-nav │ ├── target-pitch-alt │ ├── target-roll │ ├── target-speed │ ├── target-speed-pitch │ ├── tecs-balance │ ├── tecs-total │ ├── velocities │ ├── vireo │ │ ├── target-altitude-thr-vireo │ │ ├── target-roll-vireo │ │ └── target-speed-pitch-vireo │ └── wind-est ├── perl │ ├── circles.pl │ └── telnet.pl ├── sys5 │ └── aura └── systemd │ ├── README.md │ ├── bb-flight.service │ ├── bb-flight.sh │ ├── setup-uarts.service │ └── setup-uarts.sh ├── setup.py ├── src ├── archive │ ├── aura.cpp │ ├── drivers │ │ ├── Aura3 │ │ │ ├── Aura3.cpp │ │ │ ├── Aura3.h │ │ │ ├── README.md │ │ │ ├── aura3_messages.h │ │ │ └── messages_config.h │ │ ├── gps_gpsd.cpp │ │ ├── gps_gpsd.h │ │ └── ublox7-config.txt │ ├── greatcircle.py │ ├── land2.py │ ├── python-moved-to-aura-props │ │ ├── props_test.cxx │ │ ├── pymodule.cxx │ │ ├── pymodule.hxx │ │ ├── pyprops.cxx │ │ ├── pyprops.hxx │ │ ├── python_sys.cxx │ │ ├── python_sys.hxx │ │ ├── test1.cxx │ │ ├── test2.cxx │ │ └── test3.cxx │ └── windtri.py ├── comms │ ├── __init__.py │ ├── aura_messages.py │ ├── display.py │ ├── events.py │ ├── logging.py │ ├── packer.py │ ├── remote_link.py │ ├── serial_parser.py │ └── telnet.py ├── control │ ├── __init__.py │ ├── actuators.cpp │ ├── actuators.h │ ├── ap.cpp │ ├── ap.h │ ├── cas.cpp │ ├── cas.h │ ├── circle.py │ ├── component.h │ ├── control.cpp │ ├── control.h │ ├── dig_filter.cpp │ ├── dig_filter.h │ ├── dtss.cpp │ ├── dtss.h │ ├── navigation.py │ ├── pid.cpp │ ├── pid.h │ ├── pid_vel.cpp │ ├── pid_vel.h │ ├── predictor.cpp │ ├── predictor.h │ ├── route.py │ ├── summer.cpp │ ├── summer.h │ ├── tecs.cpp │ ├── tecs.h │ └── waypoint.py ├── drivers │ ├── Aura4 │ │ ├── Aura4.cpp │ │ ├── Aura4.h │ │ ├── README.md │ │ └── aura4_messages.h │ ├── airdata.cpp │ ├── airdata.h │ ├── driver.h │ ├── driver_mgr.cpp │ ├── driver_mgr.h │ ├── fgfs.cpp │ ├── fgfs.h │ ├── gps.cpp │ ├── gps.h │ ├── gps_gpsd.cpp │ ├── gps_gpsd.h │ ├── lightware.cpp │ ├── lightware.h │ ├── maestro.cpp │ ├── maestro.h │ ├── pilot.cpp │ ├── pilot.h │ ├── pilot_helper.py │ ├── raw_sat.cpp │ ├── raw_sat.h │ ├── rcfmu │ │ ├── README.md │ │ ├── rcfmu.cpp │ │ ├── rcfmu.h │ │ ├── rcfmu_messages.h │ │ ├── serial_link2.cpp │ │ └── serial_link2.h │ ├── ublox6.cpp │ ├── ublox6.h │ ├── ublox8.cpp │ ├── ublox8.h │ ├── ublox9.cpp │ └── ublox9.h ├── filters │ ├── archive │ │ └── curt │ │ │ ├── adns_curt.cpp │ │ │ ├── adns_curt.h │ │ │ ├── curtquat.cpp │ │ │ ├── glocal.cpp │ │ │ └── glocal.h │ ├── filter_mgr.cpp │ ├── filter_mgr.h │ ├── ground.cpp │ ├── ground.h │ ├── nav_common │ │ ├── constants.h │ │ ├── coremag.c │ │ ├── coremag.h │ │ ├── nav_functions.cpp │ │ ├── nav_functions.h │ │ └── structs.h │ ├── nav_ekf15 │ │ ├── EKF_15state.cpp │ │ ├── EKF_15state.h │ │ ├── aura_interface.cpp │ │ └── aura_interface.h │ ├── nav_ekf15_mag │ │ ├── EKF_15state.cpp │ │ ├── EKF_15state.h │ │ ├── aura_interface.cpp │ │ └── aura_interface.h │ ├── wind.cpp │ └── wind.h ├── flight.py ├── health │ └── health.py ├── include │ └── globaldefs.h ├── mission │ ├── __init__.py │ ├── mission_mgr.py │ └── task │ │ ├── __init__.py │ │ ├── calib_accels.py │ │ ├── calib_home.py │ │ ├── calib_mags.py │ │ ├── camera.py │ │ ├── chirp.py │ │ ├── circle.py │ │ ├── excite.py │ │ ├── fcsmode.py │ │ ├── flaps_mgr.py │ │ ├── glide.py │ │ ├── home_mgr.py │ │ ├── idle.py │ │ ├── is_airborne.py │ │ ├── land3.py │ │ ├── launch.py │ │ ├── lost_link.py │ │ ├── lowpass.py │ │ ├── parametric.py │ │ ├── preflight.py │ │ ├── route.py │ │ ├── state.py │ │ ├── switches.py │ │ ├── task.py │ │ ├── throttle_safety.py │ │ └── transformations.py ├── survey │ ├── README.md │ ├── __init__.py │ ├── area.py │ ├── line.py │ ├── point.py │ ├── survey.py │ ├── test_lines.py │ └── vector.py └── util │ ├── butter.cpp │ ├── butter.h │ ├── butter_test.cpp │ ├── cal_temp.cpp │ ├── cal_temp.h │ ├── geodesy.cpp │ ├── geodesy.h │ ├── geodesy_test.cpp │ ├── linearfit.cpp │ ├── linearfit.h │ ├── lowpass.cpp │ ├── lowpass.h │ ├── myprof.py │ ├── netSocket.cpp │ ├── netSocket.h │ ├── poly1d.h │ ├── props_helper.cpp │ ├── props_helper.h │ ├── serial_link.cpp │ ├── serial_link.h │ ├── sg_path.cpp │ ├── sg_path.h │ ├── strutils.cpp │ ├── strutils.h │ ├── timer.py │ ├── timing.cpp │ ├── timing.h │ ├── ul.h │ ├── wgs84.cpp │ ├── wgs84.h │ ├── windtri.cpp │ └── windtri.h ├── tools ├── auralink │ ├── README.md │ ├── auraexport.py │ ├── auraexport_csv.py │ ├── auralink.py │ ├── auraparser.py │ ├── commands.py │ ├── current.py │ ├── httpserver.py │ ├── joystick.py │ ├── logger.py │ ├── projects.py │ ├── requests.py │ └── telnet.py ├── auratasks │ ├── auratasks.py │ ├── calibrate.py │ ├── chirp.py │ ├── circle.py │ ├── combobox_nowheel.py │ ├── fgtelnet.py │ ├── land.py │ ├── launch.py │ ├── parametric.py │ └── preflight.py ├── auratuner │ ├── L1.py │ ├── TECS.py │ ├── auratuner.py │ ├── component.py │ ├── fcs-plot.py │ ├── fetcher.py │ ├── fgtelnet.py │ └── loop.plt ├── calibrate │ ├── 1-gen-calibration-data.py │ ├── 2-fit-calibration.py │ ├── archive │ │ └── 1-gen-calibration-data.py │ ├── polyfit.py │ └── transformations.py ├── flight_report │ ├── README.md │ ├── fcs_report.py │ ├── flight_report.py │ ├── lowpass.py │ ├── mags.py │ └── wind.py ├── geotag │ └── geotag.py └── messages │ ├── README.md │ ├── aura3_messages.json │ ├── aura4_messages.h │ ├── aura4_messages.json │ ├── 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