├── .gitignore ├── README.md ├── ROS └── cyphyhouse │ ├── cyphy_car │ ├── CMakeLists.txt │ ├── include │ │ └── ekf_car.h │ ├── launch │ │ └── wp.launch │ ├── package.xml │ ├── scripts │ │ ├── waypointfixed.py │ │ └── waypointnew.py │ └── src │ │ ├── ekf_car.cpp │ │ ├── estimator.cpp │ │ └── waypoint.cpp │ ├── cyphy_car_mpc │ ├── .idea │ │ ├── cyphy_car_mpc.iml │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── vcs.xml │ │ └── workspace.xml │ ├── CMakeLists.txt │ ├── include │ │ └── MPC.h │ ├── launch │ │ └── wp.launch │ ├── package.xml │ └── src │ │ ├── MPC.cpp │ │ └── waypoint.cpp │ ├── cyphy_car_mpc2 │ ├── .idea │ │ ├── cyphy_car_mpc.iml │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── vcs.xml │ │ └── workspace.xml │ ├── CMakeLists.txt │ ├── include │ │ └── MPC.h │ ├── launch │ │ └── wp.launch │ ├── package.xml │ └── src │ │ ├── MPC.cpp │ │ └── waypoint.cpp │ ├── decawave │ ├── CMakeLists.txt │ ├── Launch │ │ └── decawave.launch │ ├── config │ │ ├── anchorPos_IRL.txt │ │ └── anchorPos_hotdec.txt │ ├── include │ │ └── tdoa.h │ ├── package.xml │ └── src │ │ ├── decaNode.cpp │ │ ├── saveTDOA.cpp │ │ └── tdoa.cpp │ ├── quadcopter │ ├── CMakeLists.txt │ ├── drone_setup_instructions.txt │ ├── flydrone.bash │ ├── launch │ │ ├── cyphyhouse.launch │ │ └── posHold.launch │ ├── package.xml │ └── src │ │ ├── fakegps.cpp │ │ └── posHold.cpp │ └── rrt_car │ ├── .idea │ ├── cyphy_car_mpc.iml │ ├── misc.xml │ ├── modules.xml │ ├── vcs.xml │ └── workspace.xml │ ├── CMakeLists.txt │ ├── include │ └── MPC.h │ ├── launch │ └── wp.launch │ ├── package.xml │ └── src │ ├── MPC.cpp │ └── waypoint.cpp ├── TREK_TAG ├── Libraries │ ├── CMSIS │ │ └── CM3 │ │ │ ├── CoreSupport │ │ │ ├── core_cm3.c │ │ │ └── core_cm3.h │ │ │ └── DeviceSupport │ │ │ └── ST │ │ │ └── STM32F10x │ │ │ ├── startup │ │ │ └── startup_stm32f10x_cl.S │ │ │ ├── stm32f10x.h │ │ │ ├── system_stm32f10x.c │ │ │ └── system_stm32f10x.h │ ├── STM32F10x_StdPeriph_Driver │ │ ├── inc │ │ │ ├── misc.h │ │ │ ├── stm32f10x_adc.h │ │ │ ├── stm32f10x_bkp.h │ │ │ ├── stm32f10x_can.h │ │ │ ├── stm32f10x_cec.h │ │ │ ├── stm32f10x_crc.h │ │ │ ├── stm32f10x_dac.h │ │ │ ├── stm32f10x_dbgmcu.h │ │ │ ├── stm32f10x_dma.h │ │ │ ├── stm32f10x_exti.h │ │ │ ├── stm32f10x_flash.h │ │ │ ├── stm32f10x_fsmc.h │ │ │ ├── stm32f10x_gpio.h │ │ │ ├── stm32f10x_i2c.h │ │ │ ├── stm32f10x_iwdg.h │ │ │ ├── stm32f10x_pwr.h │ │ │ ├── stm32f10x_rcc.h │ │ │ ├── stm32f10x_rtc.h │ │ │ ├── stm32f10x_sdio.h │ │ │ ├── stm32f10x_spi.h │ │ │ ├── stm32f10x_tim.h │ │ │ ├── stm32f10x_usart.h │ │ │ └── stm32f10x_wwdg.h │ │ └── src │ │ │ ├── misc.c │ │ │ ├── stm32f10x_adc.c │ │ │ ├── stm32f10x_bkp.c │ │ │ ├── stm32f10x_can.c │ │ │ ├── stm32f10x_cec.c │ │ │ ├── stm32f10x_crc.c │ │ │ ├── stm32f10x_dac.c │ │ │ ├── stm32f10x_dbgmcu.c │ │ │ ├── stm32f10x_dma.c │ │ │ ├── stm32f10x_exti.c │ │ │ ├── stm32f10x_flash.c │ │ │ ├── stm32f10x_fsmc.c │ │ │ ├── stm32f10x_gpio.c │ │ │ ├── stm32f10x_i2c.c │ │ │ ├── stm32f10x_iwdg.c │ │ │ ├── stm32f10x_pwr.c │ │ │ ├── stm32f10x_rcc.c │ │ │ ├── stm32f10x_rtc.c │ │ │ ├── stm32f10x_sdio.c │ │ │ ├── stm32f10x_spi.c │ │ │ ├── stm32f10x_tim.c │ │ │ ├── stm32f10x_usart.c │ │ │ └── stm32f10x_wwdg.c │ ├── STM32_USB_Device_Library │ │ ├── Class │ │ │ ├── audio │ │ │ │ ├── inc │ │ │ │ │ ├── usbd_audio_core.h │ │ │ │ │ └── usbd_audio_out_if.h │ │ │ │ └── src │ │ │ │ │ ├── usbd_audio_core.c │ │ │ │ │ └── usbd_audio_out_if.c │ │ │ ├── cdc │ │ │ │ ├── inc │ │ │ │ │ ├── usbd_cdc_core.h │ │ │ │ │ └── usbd_cdc_if_template.h │ │ │ │ └── src │ │ │ │ │ ├── usbd_cdc_core.c │ │ │ │ │ └── usbd_cdc_if_template.c │ │ │ ├── dfu │ │ │ │ ├── inc │ │ │ │ │ ├── usbd_dfu_core.h │ │ │ │ │ ├── usbd_dfu_mal.h │ │ │ │ │ ├── usbd_flash_if.h │ │ │ │ │ ├── usbd_mem_if_template.h │ │ │ │ │ └── usbd_otp_if.h │ │ │ │ └── src │ │ │ │ │ ├── usbd_dfu_core.c │ │ │ │ │ ├── usbd_dfu_mal.c │ │ │ │ │ ├── usbd_flash_if.c │ │ │ │ │ ├── usbd_mem_if_template.c │ │ │ │ │ └── usbd_otp_if.c │ │ │ ├── hid │ │ │ │ ├── inc │ │ │ │ │ └── usbd_hid_core.h │ │ │ │ └── src │ │ │ │ │ └── usbd_hid_core.c │ │ │ └── msc │ │ │ │ ├── inc │ │ │ │ ├── usbd_msc_bot.h │ │ │ │ ├── usbd_msc_core.h │ │ │ │ ├── usbd_msc_data.h │ │ │ │ ├── usbd_msc_mem.h │ │ │ │ └── usbd_msc_scsi.h │ │ │ │ └── src │ │ │ │ ├── usbd_msc_bot.c │ │ │ │ ├── usbd_msc_core.c │ │ │ │ ├── usbd_msc_data.c │ │ │ │ ├── usbd_msc_scsi.c │ │ │ │ └── usbd_storage_template.c │ │ ├── Core │ │ │ ├── inc │ │ │ │ ├── usbd_conf.h_example │ │ │ │ ├── usbd_conf_template.h │ │ │ │ ├── usbd_conf_template.h.bak │ │ │ │ ├── usbd_conf_template_1.h │ │ │ │ ├── usbd_core.h │ │ │ │ ├── usbd_def.h │ │ │ │ ├── usbd_ioreq.h │ │ │ │ ├── usbd_req.h │ │ │ │ └── usbd_usr.h │ │ │ └── src │ │ │ │ ├── usbd_core.c │ │ │ │ ├── usbd_ioreq.c │ │ │ │ └── usbd_req.c │ │ └── Release_Notes.html │ └── STM32_USB_OTG_Driver │ │ ├── inc │ │ ├── usb_bsp.h │ │ ├── usb_conf_template.h.bak │ │ ├── usb_core.h │ │ ├── usb_dcd.h │ │ ├── usb_dcd_int.h │ │ ├── usb_defines.h │ │ ├── usb_hcd.h │ │ ├── usb_hcd_int.h │ │ ├── usb_otg.h │ │ └── usb_regs.h │ │ └── src │ │ ├── usb_bsp_template.c │ │ ├── usb_core.c │ │ ├── usb_dcd.c │ │ ├── usb_dcd_int.c │ │ ├── usb_hcd.c │ │ ├── usb_hcd_int.c │ │ └── usb_otg.c ├── Linkers │ └── stm32_flash_256k_ram_64k.ld ├── TREK_TAG.cogui ├── TREK_TAG.comarker ├── TREK_TAG.coproj ├── TREK_TAG │ ├── Debug │ │ ├── bin │ │ │ ├── TREK_TAG.bin │ │ │ ├── TREK_TAG.elf │ │ │ ├── TREK_TAG.hex │ │ │ ├── TREK_TAG.map │ │ │ └── history.xml │ │ └── obj │ │ │ ├── dependencies.xml │ │ │ └── history.xml │ └── TREK_TAG.elf.xcodeproj │ │ └── project.pbxproj ├── arm-gcc-link.ld ├── decadriver │ ├── deca_device.c │ ├── deca_device_api.h │ ├── deca_param_types.h │ ├── deca_params_init.c │ ├── deca_regs.h │ ├── deca_types.h │ └── deca_version.h ├── inc │ ├── compiler.h │ └── tdoa_tag.h ├── platform │ ├── deca_mutex.c │ ├── deca_sleep.c │ ├── deca_spi.c │ ├── deca_spi.h │ ├── lcd.c │ ├── lcd.h │ ├── port_deca.c │ ├── port_deca.h │ ├── sleep.h │ ├── stm32f10x_conf.h │ ├── stm32f10x_it.c │ ├── stm32f10x_it.h │ ├── syscalls.c │ └── usb │ │ ├── deca_usb.c │ │ ├── deca_usb.h │ │ ├── deca_usb_bsp_evk1000.c │ │ ├── usb_conf.h │ │ ├── usbd_conf.h │ │ ├── usbd_desc.c │ │ ├── usbd_desc.h │ │ └── usbd_usr.c └── src │ ├── main.c │ └── tdoa_tag.c └── TREK_TDOA ├── Libraries ├── CMSIS │ └── CM3 │ │ ├── CoreSupport │ │ ├── core_cm3.c │ │ └── core_cm3.h │ │ └── DeviceSupport │ │ └── ST │ │ └── STM32F10x │ │ ├── startup │ │ └── startup_stm32f10x_cl.S │ │ ├── stm32f10x.h │ │ ├── system_stm32f10x.c │ │ └── system_stm32f10x.h └── STM32F10x_StdPeriph_Driver │ ├── inc │ ├── misc.h │ ├── stm32f10x_adc.h │ ├── stm32f10x_bkp.h │ ├── stm32f10x_can.h │ ├── stm32f10x_cec.h │ ├── stm32f10x_crc.h │ ├── stm32f10x_dac.h │ ├── stm32f10x_dbgmcu.h │ ├── stm32f10x_dma.h │ ├── stm32f10x_exti.h │ ├── stm32f10x_flash.h │ ├── stm32f10x_fsmc.h │ ├── stm32f10x_gpio.h │ ├── stm32f10x_i2c.h │ ├── stm32f10x_iwdg.h │ ├── stm32f10x_pwr.h │ ├── stm32f10x_rcc.h │ ├── stm32f10x_rtc.h │ ├── stm32f10x_sdio.h │ ├── stm32f10x_spi.h │ ├── stm32f10x_tim.h │ ├── stm32f10x_usart.h │ └── stm32f10x_wwdg.h │ └── src │ ├── misc.c │ ├── stm32f10x_adc.c │ ├── stm32f10x_bkp.c │ ├── stm32f10x_can.c │ ├── stm32f10x_cec.c │ ├── stm32f10x_crc.c │ ├── stm32f10x_dac.c │ ├── stm32f10x_dbgmcu.c │ ├── stm32f10x_dma.c │ ├── stm32f10x_exti.c │ ├── stm32f10x_flash.c │ ├── stm32f10x_fsmc.c │ ├── stm32f10x_gpio.c │ ├── stm32f10x_i2c.c │ ├── stm32f10x_iwdg.c │ ├── stm32f10x_pwr.c │ ├── stm32f10x_rcc.c │ ├── stm32f10x_rtc.c │ ├── stm32f10x_sdio.c │ ├── stm32f10x_spi.c │ ├── stm32f10x_tim.c │ ├── stm32f10x_usart.c │ └── stm32f10x_wwdg.c ├── Linkers └── stm32_flash_256k_ram_64k.ld ├── TREK_TDOA.cogui ├── TREK_TDOA.comarker ├── TREK_TDOA.comemgui ├── TREK_TDOA.coproj ├── TREK_TDOA ├── Debug │ ├── bin │ │ ├── TREK_TDOA.bin │ │ ├── TREK_TDOA.elf │ │ ├── TREK_TDOA.hex │ │ ├── TREK_TDOA.map │ │ └── history.xml │ └── obj │ │ ├── dependencies.xml │ │ └── history.xml └── TREK_TDOA.elf.xcodeproj │ └── 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