├── .clang-format ├── .clang-tidy ├── .gitattributes ├── .github ├── pull_request_template.md └── workflows │ └── require-checklist.yaml ├── .gitignore ├── .travis.yml ├── Autopilot ├── .idea │ ├── .name │ ├── ZeroPilot-SW.iml │ ├── codeStyles │ │ ├── Project.xml │ │ └── codeStyleConfig.xml │ ├── encodings.xml │ ├── misc.xml │ ├── modules.xml │ ├── runConfigurations │ │ └── Autopilot_elf___ZeropilotV1___STLINKV2.xml │ └── vcs.xml ├── .vscode │ ├── c_cpp_properties.json │ ├── launch.json │ └── tasks.json ├── AttitudeManager │ ├── Inc │ │ ├── AttitudeDatatypes.hpp │ │ ├── CommWithPathManager.hpp │ │ ├── GetFromPathManager.hpp │ │ ├── OutputMixing.hpp │ │ ├── SendInstructionsToSafety.hpp │ │ ├── attitudeConfig.hpp │ │ ├── attitudeManager.hpp │ │ ├── attitudeManagerInterface.h │ │ ├── attitudeStateClasses.hpp │ │ └── attitudeStateManager.hpp │ └── Src │ │ ├── CommFromAMToPM.cpp │ │ ├── GetFromPathManager.cpp │ │ ├── OutputMixing.cpp │ │ ├── SendInstructionsToSafety.cpp │ │ ├── attitudeManager.cpp │ │ ├── attitudeManagerInterface.cpp │ │ └── attitudeStateClasses.cpp ├── CControl │ ├── Inc │ │ └── CControlFunctions.h │ └── Src │ │ ├── inv.c │ │ ├── lup.c │ │ ├── mul.c │ │ └── tran.c ├── CMakeLists.txt ├── DataStructures │ ├── CMakeLists.txt │ ├── Inc │ │ └── vectorClass.hpp │ └── Src │ │ └── vectorClass.cpp ├── Inc │ ├── AttitudePathInterface.hpp │ ├── ByteQueue.h │ ├── CommonDataTypes.hpp │ ├── IMUThreadInterface.h │ ├── Interchip_A.h │ ├── NMEAParser.h │ ├── PID.hpp │ ├── TelemPathInterface.hpp │ ├── airspeed.hpp │ ├── airspeedThreadInterface.h │ ├── altimeter.hpp │ ├── altimeterThreadInterface.h │ ├── batterysensor.hpp │ ├── eeprom.h │ ├── gimbal.hpp │ ├── gps.hpp │ ├── imu.hpp │ ├── mpu9255.h │ └── timeStampingPOGI.hpp ├── PathManager │ ├── Inc │ │ ├── AutoSteer.hpp │ │ ├── CommWithAttitudeManager.hpp │ │ ├── CommsWithTelemetry.hpp │ │ ├── PathManagerInterface.h │ │ ├── cruisingState.hpp │ │ ├── landingTakeoffManager.hpp │ │ ├── pathDatatypes.hpp │ │ ├── pathManager.hpp │ │ ├── pathManagerStateManager.hpp │ │ ├── pathStateClasses.hpp │ │ └── waypointManager.hpp │ └── Src │ │ ├── AutoSteer.cpp │ │ ├── CommFromPMToAM.cpp │ │ ├── CommsWithTelemetry.cpp │ │ ├── PathManagerInterface.cpp │ │ ├── cruisingState.cpp │ │ ├── landingTakeoffManager.cpp │ │ ├── pathManager.cpp │ │ ├── pathStateClasses.cpp │ │ └── waypointManager.cpp ├── STM32F765ZGTx_FLASH.ld ├── STM32F765xG.cmake ├── STM32F767ZITx_FLASH.ld ├── SensorFusion │ ├── Inc │ │ ├── MahonyAHRS.h │ │ ├── SensorFusion.hpp │ │ └── sensorFusionInterface.hpp │ └── Src │ │ ├── MahonyAHRS.cpp │ │ ├── SensorFusion.cpp │ │ └── sensorFusionInterface.cpp ├── Simulation │ ├── Intercepts │ │ ├── CommsBetweenStateMachines_Intercept.cpp │ │ └── CommsWithTelemetry_intercept_user.cpp │ └── SimDriver │ │ └── SimMain.cpp ├── Src │ ├── ByteQueue.c │ ├── Callbacks.cpp │ ├── IMUThreadInterface.cpp │ ├── Interchip_A.cpp │ ├── MPXV7002DP.cpp │ ├── NMEAParser.c │ ├── PID.cpp │ ├── airspeedThreadInterface.cpp │ ├── altimeter.cpp │ ├── altimeterThreadInterface.cpp │ ├── eeprom.c │ ├── gimbal.cpp │ ├── gps.cpp │ ├── imu.cpp │ └── timeStampingPOGI.cpp ├── TelemetryManager │ ├── Inc │ │ ├── CommsWithPathManager.hpp │ │ ├── FW_CV_Structs.hpp │ │ ├── UARTDriver.hpp │ │ ├── comms.hpp │ │ ├── telemetryManager.hpp │ │ ├── telemetryManagerInterface.h │ │ ├── telemetryStateClasses.hpp │ │ └── telemetryStateManager.hpp │ └── Src │ │ ├── CommsWithPathManager.cpp │ │ ├── UARTDriver.cpp │ │ ├── comms.cpp │ │ ├── telemetryManager.cpp │ │ ├── telemetryManagerInterface.cpp │ │ └── telemetryStateClasses.cpp ├── Test │ ├── Inc │ │ ├── IMU_Mock.hpp │ │ ├── airspeed_Mock.hpp │ │ ├── altimeter_mock.hpp │ │ ├── batterysensor_mock.hpp │ │ └── gpsMock.hpp │ ├── Src │ │ ├── AttitudeManager │ │ │ ├── Test_AttitudeManager_Fsm.cpp │ │ │ └── Test_OutputMixing.cpp │ │ ├── DataStructures │ │ │ └── Test_Vector_Class.cpp │ │ ├── LandingTakeoffManager │ │ │ ├── Test_Landing.cpp │ │ │ └── Test_Takeoff.cpp │ │ ├── PathManager │ │ │ ├── Test_CruisingState.cpp │ │ │ ├── Test_PathManager_Fsm.cpp │ │ │ └── Test_WaypointManager.cpp │ │ ├── SensorFusion │ │ │ ├── Test_Airspeed.cpp │ │ │ ├── Test_Altimeter.cpp │ │ │ ├── Test_GPS.cpp │ │ │ ├── Test_IMU.cpp │ │ │ └── Test_SF.cpp │ │ ├── TelemetryManager │ │ │ └── Test_TelemetryManager_Fsm.cpp │ │ ├── Test_Airspeed_Skeleton.cpp │ │ ├── Test_Altimeter_Skeleton.cpp │ │ ├── Test_Gps_Skeleton.cpp │ │ ├── Test_Imu_skeleton.cpp │ │ └── Test_PID.cpp │ ├── testMain.cpp │ └── vendor │ │ ├── FindCmakeModules │ │ └── FindGMock.cmake │ │ └── lib │ │ └── fff.h ├── Tools │ ├── build.bash │ ├── file.py │ └── setenv_autopilot.sh ├── autopilot.envrc ├── boardfiles │ ├── Autopilot_ZeropilotRev1.ioc │ ├── Drivers │ │ ├── CMSIS │ │ │ ├── Device │ │ │ │ └── ST │ │ │ │ │ └── STM32F7xx │ │ │ │ │ └── Include │ │ │ │ │ ├── stm32f765xx.h │ │ │ │ │ ├── stm32f7xx.h │ │ │ │ │ └── system_stm32f7xx.h │ │ │ └── Include │ │ │ │ ├── cmsis_armcc.h │ │ │ │ ├── cmsis_armclang.h │ │ │ │ ├── cmsis_compiler.h │ │ │ │ ├── cmsis_gcc.h │ │ │ │ ├── cmsis_iccarm.h │ │ │ │ ├── cmsis_version.h │ │ │ │ ├── core_armv8mbl.h │ │ │ │ ├── core_armv8mml.h │ │ │ │ ├── core_cm0.h │ │ │ │ ├── core_cm0plus.h │ │ │ │ ├── core_cm1.h │ │ │ │ ├── core_cm23.h │ │ │ │ ├── core_cm3.h │ │ │ │ ├── core_cm33.h │ │ │ │ ├── core_cm4.h │ │ │ │ ├── core_cm7.h │ │ │ │ ├── core_sc000.h │ │ │ │ ├── core_sc300.h │ │ │ │ ├── mpu_armv7.h │ │ │ │ ├── mpu_armv8.h │ │ │ │ └── tz_context.h │ │ └── STM32F7xx_HAL_Driver │ │ │ ├── CMakeLists.txt │ │ │ ├── Inc │ │ │ ├── Legacy │ │ │ │ └── stm32_hal_legacy.h │ │ │ ├── stm32f7xx_hal.h │ │ │ ├── stm32f7xx_hal_adc.h │ │ │ ├── stm32f7xx_hal_adc_ex.h │ │ │ ├── stm32f7xx_hal_cortex.h │ │ │ ├── stm32f7xx_hal_crc.h │ │ │ ├── stm32f7xx_hal_crc_ex.h │ │ │ ├── stm32f7xx_hal_def.h │ │ │ ├── stm32f7xx_hal_dma.h │ │ │ ├── stm32f7xx_hal_dma_ex.h │ │ │ ├── stm32f7xx_hal_exti.h │ │ │ ├── stm32f7xx_hal_flash.h │ │ │ ├── stm32f7xx_hal_flash_ex.h │ │ │ ├── stm32f7xx_hal_gpio.h │ │ │ ├── stm32f7xx_hal_gpio_ex.h │ │ │ ├── stm32f7xx_hal_i2c.h │ │ │ ├── stm32f7xx_hal_i2c_ex.h │ │ │ ├── stm32f7xx_hal_pwr.h │ │ │ ├── stm32f7xx_hal_pwr_ex.h │ │ │ ├── stm32f7xx_hal_rcc.h │ │ │ ├── stm32f7xx_hal_rcc_ex.h │ │ │ ├── stm32f7xx_hal_spi.h │ │ │ ├── stm32f7xx_hal_spi_ex.h │ │ │ ├── stm32f7xx_hal_tim.h │ │ │ ├── stm32f7xx_hal_tim_ex.h │ │ │ ├── stm32f7xx_hal_uart.h │ │ │ └── stm32f7xx_hal_uart_ex.h │ │ │ └── Src │ │ │ ├── stm32f7xx_hal.c │ │ │ ├── stm32f7xx_hal_adc.c │ │ │ ├── stm32f7xx_hal_adc_ex.c │ │ │ ├── stm32f7xx_hal_cortex.c │ │ │ ├── stm32f7xx_hal_crc.c │ │ │ ├── stm32f7xx_hal_crc_ex.c │ │ │ ├── stm32f7xx_hal_dma.c │ │ │ ├── stm32f7xx_hal_dma_ex.c │ │ │ ├── stm32f7xx_hal_exti.c │ │ │ ├── stm32f7xx_hal_flash.c │ │ │ ├── stm32f7xx_hal_flash_ex.c │ │ │ ├── stm32f7xx_hal_gpio.c │ │ │ ├── stm32f7xx_hal_i2c.c │ │ │ ├── stm32f7xx_hal_i2c_ex.c │ │ │ ├── stm32f7xx_hal_pwr.c │ │ │ ├── stm32f7xx_hal_pwr_ex.c │ │ │ ├── stm32f7xx_hal_rcc.c │ │ │ ├── stm32f7xx_hal_rcc_ex.c │ │ │ ├── stm32f7xx_hal_spi.c │ │ │ ├── stm32f7xx_hal_spi_ex.c │ │ │ ├── stm32f7xx_hal_tim.c │ │ │ ├── stm32f7xx_hal_tim_ex.c │ │ │ ├── stm32f7xx_hal_uart.c │ │ │ └── stm32f7xx_hal_uart_ex.c │ ├── Inc │ │ ├── FreeRTOSConfig.h │ │ ├── adc.h │ │ ├── crc.h │ │ ├── dma.h │ │ ├── gpio.h │ │ ├── i2c.h │ │ ├── main.h │ │ ├── spi.h │ │ ├── stm32f7xx_hal_conf.h │ │ ├── stm32f7xx_it.h │ │ ├── tim.h │ │ └── usart.h │ ├── Middlewares │ │ └── Third_Party │ │ │ └── FreeRTOS │ │ │ ├── CMakeLists.txt │ │ │ └── Source │ │ │ ├── CMSIS_RTOS │ │ │ ├── cmsis_os.c │ │ │ └── cmsis_os.h │ │ │ ├── croutine.c │ │ │ ├── event_groups.c │ │ │ ├── include │ │ │ ├── FreeRTOS.h │ │ │ ├── StackMacros.h │ │ │ ├── croutine.h │ │ │ ├── deprecated_definitions.h │ │ │ ├── event_groups.h │ │ │ ├── list.h │ │ │ ├── message_buffer.h │ │ │ ├── mpu_prototypes.h │ │ │ ├── mpu_wrappers.h │ │ │ ├── portable.h │ │ │ ├── projdefs.h │ │ │ ├── queue.h │ │ │ ├── semphr.h │ │ │ ├── stack_macros.h │ │ │ ├── stream_buffer.h │ │ │ ├── task.h │ │ │ └── timers.h │ │ │ ├── list.c │ │ │ ├── portable │ │ │ ├── GCC │ │ │ │ └── ARM_CM7 │ │ │ │ │ └── r0p1 │ │ │ │ │ ├── port.c │ │ │ │ │ └── portmacro.h │ │ │ └── MemMang │ │ │ │ └── heap_4.c │ │ │ ├── queue.c │ │ │ ├── stream_buffer.c │ │ │ ├── tasks.c │ │ │ └── timers.c │ ├── STM32F765ZGTx_FLASH.ld │ ├── Src │ │ ├── adc.c │ │ ├── crc.c │ │ ├── dma.c │ │ ├── freertos.c │ │ ├── gpio.c │ │ ├── i2c.c │ │ ├── main.c │ │ ├── spi.c │ │ ├── stm32f7xx_hal_msp.c │ │ ├── stm32f7xx_hal_timebase_tim.c │ │ ├── stm32f7xx_it.c │ │ ├── system_stm32f7xx.c │ │ ├── tim.c │ │ └── usart.c │ ├── lib │ │ └── libarm_cortexM7lfdp_math.a │ ├── startup_stm32f765xx.s │ ├── stlinkv2-1-openocd.cfg │ └── stlinkv2-openocd.cfg ├── libstdc++-6.dll ├── startup_stm32f765xx.s └── startup_stm32f767xx.s ├── Common ├── Inc │ ├── Debug.hpp │ ├── Interchip.h │ ├── MathConstants.hpp │ └── Profiler.h └── Src │ ├── Debug.cpp │ └── Profiler.cpp ├── LICENSE.md ├── README.md ├── Safety ├── .idea │ ├── Safety.iml │ ├── codeStyles │ │ ├── Project.xml │ │ └── codeStyleConfig.xml │ ├── encodings.xml │ ├── externalDependencies.xml │ ├── misc.xml │ ├── modules.xml │ └── vcs.xml ├── CMakeLists.txt ├── Inc │ ├── PPM.hpp │ ├── PWM.hpp │ ├── RSSI.hpp │ ├── interchip_S.hpp │ ├── safetyConfig.hpp │ └── safety_controller.hpp ├── Libraries │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F0xx │ │ │ │ └── Include │ │ │ │ ├── stm32f030xc.h │ │ │ │ ├── stm32f0xx.h │ │ │ │ └── system_stm32f0xx.h │ │ └── Include │ │ │ ├── arm_common_tables.h │ │ │ ├── arm_const_structs.h │ │ │ ├── arm_math.h │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armcc_V6.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_cmFunc.h │ │ │ ├── core_cmInstr.h │ │ │ ├── core_cmSimd.h │ │ │ ├── core_sc000.h │ │ │ └── core_sc300.h │ ├── Drivers │ │ ├── Inc │ │ │ ├── PPM.hpp │ │ │ ├── PWM.hpp │ │ │ └── stm32f0 │ │ │ │ ├── stm32f0xx_hal_conf.h │ │ │ │ └── stm32f0xx_it.h │ │ └── Src │ │ │ ├── stm32f0 │ │ │ ├── Clock.cpp │ │ │ ├── I2C.cpp │ │ │ ├── PPM.cpp │ │ │ ├── PWM.cpp │ │ │ ├── UART.cpp │ │ │ ├── Watchdog.cpp │ │ │ ├── stm32f0xx_hal_msp.c │ │ │ ├── stm32f0xx_it.c │ │ │ └── system_stm32f0xx.c │ │ │ └── x86 │ │ │ ├── GPIO.cpp │ │ │ ├── I2C.cpp │ │ │ └── SPI.cpp │ └── STM32F0xx_HAL_Driver │ │ ├── CMakeLists.txt │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f0xx_hal.h │ │ ├── stm32f0xx_hal_cortex.h │ │ ├── stm32f0xx_hal_def.h │ │ ├── stm32f0xx_hal_dma.h │ │ ├── stm32f0xx_hal_dma_ex.h │ │ ├── stm32f0xx_hal_flash.h │ │ ├── stm32f0xx_hal_flash_ex.h │ │ ├── stm32f0xx_hal_gpio.h │ │ ├── stm32f0xx_hal_gpio_ex.h │ │ ├── stm32f0xx_hal_i2c.h │ │ ├── stm32f0xx_hal_i2c_ex.h │ │ ├── stm32f0xx_hal_iwdg.h │ │ ├── stm32f0xx_hal_pwr.h │ │ ├── stm32f0xx_hal_pwr_ex.h │ │ ├── stm32f0xx_hal_rcc.h │ │ ├── stm32f0xx_hal_rcc_ex.h │ │ ├── stm32f0xx_hal_rtc.h │ │ ├── stm32f0xx_hal_rtc_ex.h │ │ ├── stm32f0xx_hal_spi.h │ │ ├── stm32f0xx_hal_spi_ex.h │ │ ├── stm32f0xx_hal_tim.h │ │ ├── stm32f0xx_hal_tim_ex.h │ │ ├── stm32f0xx_hal_uart.h │ │ ├── stm32f0xx_hal_uart_ex.h │ │ └── stm32f0xx_hal_wwdg.h │ │ └── Src │ │ ├── stm32f0xx_hal.c │ │ ├── stm32f0xx_hal_cortex.c │ │ ├── stm32f0xx_hal_dma.c │ │ ├── stm32f0xx_hal_flash.c │ │ ├── stm32f0xx_hal_flash_ex.c │ │ ├── stm32f0xx_hal_gpio.c │ │ ├── stm32f0xx_hal_i2c.c │ │ ├── stm32f0xx_hal_i2c_ex.c │ │ ├── stm32f0xx_hal_iwdg.c │ │ ├── stm32f0xx_hal_pwr.c │ │ ├── stm32f0xx_hal_pwr_ex.c │ │ ├── stm32f0xx_hal_rcc.c │ │ ├── stm32f0xx_hal_rcc_ex.c │ │ ├── stm32f0xx_hal_rtc.c │ │ ├── stm32f0xx_hal_rtc_ex.c │ │ ├── stm32f0xx_hal_spi.c │ │ ├── stm32f0xx_hal_spi_ex.c │ │ ├── stm32f0xx_hal_tim.c │ │ ├── stm32f0xx_hal_tim_ex.c │ │ ├── stm32f0xx_hal_uart.c │ │ ├── stm32f0xx_hal_uart_ex.c │ │ └── stm32f0xx_hal_wwdg.c ├── STM32F030RCTx_FLASH.ld ├── STM32F030xx.cmake ├── Src │ ├── PPM.cpp │ ├── PWM.cpp │ ├── RSSI.cpp │ ├── interchip_S.cpp │ └── safety_controller.cpp ├── Tests │ ├── CMakeLists.txt │ └── Src │ │ └── main.cpp ├── Tools │ └── build.bash ├── boardfiles │ ├── Drivers │ │ ├── CMSIS │ │ │ ├── Device │ │ │ │ └── ST │ │ │ │ │ └── STM32F0xx │ │ │ │ │ └── Include │ │ │ │ │ ├── stm32f030xc.h │ │ │ │ │ ├── stm32f0xx.h │ │ │ │ │ └── system_stm32f0xx.h │ │ │ └── Include │ │ │ │ ├── arm_common_tables.h │ │ │ │ ├── arm_const_structs.h │ │ │ │ ├── arm_math.h │ │ │ │ ├── cmsis_armcc.h │ │ │ │ ├── cmsis_armcc_V6.h │ │ │ │ ├── cmsis_gcc.h │ │ │ │ ├── core_cm0.h │ │ │ │ ├── core_cm0plus.h │ │ │ │ ├── core_cm3.h │ │ │ │ ├── core_cm4.h │ │ │ │ ├── core_cm7.h │ │ │ │ ├── core_cmFunc.h │ │ │ │ ├── core_cmInstr.h │ │ │ │ ├── core_cmSimd.h │ │ │ │ ├── core_sc000.h │ │ │ │ └── core_sc300.h │ │ └── STM32F0xx_HAL_Driver │ │ │ ├── Inc │ │ │ ├── Legacy │ │ │ │ └── stm32_hal_legacy.h │ │ │ ├── stm32f0xx_hal.h │ │ │ ├── stm32f0xx_hal_cortex.h │ │ │ ├── stm32f0xx_hal_def.h │ │ │ ├── stm32f0xx_hal_dma.h │ │ │ ├── stm32f0xx_hal_dma_ex.h │ │ │ ├── stm32f0xx_hal_flash.h │ │ │ ├── stm32f0xx_hal_flash_ex.h │ │ │ ├── stm32f0xx_hal_gpio.h │ │ │ ├── stm32f0xx_hal_gpio_ex.h │ │ │ ├── stm32f0xx_hal_i2c.h │ │ │ ├── stm32f0xx_hal_i2c_ex.h │ │ │ ├── stm32f0xx_hal_pwr.h │ │ │ ├── stm32f0xx_hal_pwr_ex.h │ │ │ ├── stm32f0xx_hal_rcc.h │ │ │ ├── stm32f0xx_hal_rcc_ex.h │ │ │ ├── stm32f0xx_hal_spi.h │ │ │ ├── stm32f0xx_hal_spi_ex.h │ │ │ ├── stm32f0xx_hal_tim.h │ │ │ ├── stm32f0xx_hal_tim_ex.h │ │ │ ├── stm32f0xx_hal_uart.h │ │ │ └── stm32f0xx_hal_uart_ex.h │ │ │ └── Src │ │ │ ├── stm32f0xx_hal.c │ │ │ ├── stm32f0xx_hal_cortex.c │ │ │ ├── stm32f0xx_hal_dma.c │ │ │ ├── stm32f0xx_hal_flash.c │ │ │ ├── stm32f0xx_hal_flash_ex.c │ │ │ ├── stm32f0xx_hal_gpio.c │ │ │ ├── stm32f0xx_hal_i2c.c │ │ │ ├── stm32f0xx_hal_i2c_ex.c │ │ │ ├── stm32f0xx_hal_pwr.c │ │ │ ├── stm32f0xx_hal_pwr_ex.c │ │ │ ├── stm32f0xx_hal_rcc.c │ │ │ ├── stm32f0xx_hal_rcc_ex.c │ │ │ ├── stm32f0xx_hal_spi.c │ │ │ ├── stm32f0xx_hal_spi_ex.c │ │ │ ├── stm32f0xx_hal_tim.c │ │ │ ├── stm32f0xx_hal_tim_ex.c │ │ │ ├── stm32f0xx_hal_uart.c │ │ │ └── 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