├── .github └── workflows │ ├── cppcheck.yml │ └── test.yml ├── .gitignore ├── CMakeLists.txt ├── Kconfig ├── LICENSE ├── README.asc ├── app ├── CMakeLists.txt ├── boards │ └── openpilot_cc3d.conf ├── prj.conf └── src │ ├── main.cpp │ ├── zephly_sensors.c │ ├── zephly_sensors.h │ └── zephly_sensors_config.c ├── boards └── arm │ ├── emax_skyline32 │ ├── Kconfig.board │ ├── Kconfig.defconfig │ ├── board.cmake │ ├── doc │ │ ├── README.asc │ │ └── stm32f103cb.pdf │ ├── emax_skyline32.dts │ ├── emax_skyline32.yaml │ ├── emax_skyline32_defconfig │ ├── support │ │ └── openocd.cfg │ └── upload.jlink │ ├── openpilot_cc3d │ ├── Kconfig.board │ ├── Kconfig.defconfig │ ├── board.cmake │ ├── doc │ │ ├── CopterControl 3D Schematic.pdf │ │ ├── README.asc │ │ ├── demoframe.jpg │ │ ├── pinout.ods │ │ └── stm32f103cb.pdf │ ├── openpilot_cc3d.dts │ ├── openpilot_cc3d.yaml │ ├── openpilot_cc3d_defconfig │ ├── support │ │ └── openocd.cfg │ └── upload.jlink │ └── spracing_f3neo │ ├── Kconfig.board │ ├── Kconfig.defconfig │ ├── board.cmake │ ├── spracing_f3neo.dts │ └── spracing_f3neo_defconfig ├── cmake └── simulate.cmake ├── docs ├── Makefile ├── conf.py ├── controller.drawio.svg ├── index.rst ├── make.bat ├── tutorials │ ├── getting_started.rst │ ├── porting.rst │ └── simulation.rst └── zephly.svg ├── drivers ├── CMakeLists.txt ├── Kconfig ├── control_output │ └── pwm │ │ ├── CMakeLists.txt │ │ ├── Kconfig │ │ └── control_output_pwm.c ├── icm20602 │ ├── CMakeLists.txt │ ├── Kconfig │ ├── icm20602.c │ ├── icm20602.h │ └── icm20602_trigger.c ├── mpu6000 │ ├── CMakeLists.txt │ ├── Kconfig │ ├── mpu6000.c │ └── mpu6000.h └── rc │ ├── CMakeLists.txt │ ├── Kconfig │ ├── joystick │ ├── CMakeLists.txt │ ├── Kconfig │ └── joystick_rc.c │ ├── rc_common │ ├── CMakeLists.txt │ ├── Kconfig │ └── rc.c │ ├── sbus │ ├── CMakeLists.txt │ ├── Kconfig │ └── sbus_receiver.c │ └── srxl2 │ ├── CMakeLists.txt │ ├── Kconfig │ ├── spm_srxl.c │ ├── spm_srxl.h │ ├── spm_srxl_config.h │ └── srxl2.c ├── dts └── bindings │ ├── futaba,sbusreceiver.yaml │ ├── invensense,icm20602.yaml │ ├── invensense,mpu6000.yaml │ ├── spektrum,srxl2receiver.yaml │ ├── vendor-prefixes.txt │ ├── zephly,joystickrc.yaml │ └── zephly,pwmout.yaml ├── include ├── custom_drivers │ ├── control_output.h │ ├── rc.h │ └── zephly_sensors.h ├── msgs │ └── msgs.h ├── sbus_parser.h └── simulator_connection.h ├── lib ├── CMakeLists.txt ├── Kconfig ├── attitude_estimation │ ├── CMakeLists.txt │ ├── attitude_estimation.hpp │ └── test_attitude_estimation.cpp ├── com │ ├── CMakeLists.txt │ ├── Kconfig │ └── sbus │ │ ├── CMakeLists.txt │ │ ├── Kconfig │ │ └── sbus_parser.c ├── control │ ├── CMakeLists.txt │ ├── Kconfig │ ├── lowpass.c │ ├── lowpass.h │ ├── pid.c │ ├── pid.h │ ├── ratecontrol.c │ └── ratecontrol.h ├── mixer │ ├── CMakeLists.txt │ ├── Kconfig │ ├── mixer.cpp │ └── mixer.hpp └── simulator_connection │ ├── CMakeLists.txt │ ├── Kconfig │ ├── simulator_connection.c │ ├── simulator_connection_internal.h │ ├── simulator_connection_mavlink.c │ ├── simulator_connection_mavlink.h │ ├── simulator_network_socket.c │ └── simulator_network_socket.h ├── prj.conf ├── prototyping ├── 00_attitude_propagation │ └── AttitudePropagation.ipynb ├── 01_dump_complementary │ ├── ComplementaryFilter1D.ipynb │ ├── ComplementaryFilterQuaternion.ipynb │ └── Quaternion..0811.2889.pdf ├── 05_Controller │ ├── AngularRate.drawio.svg │ ├── nb01_low_pass_filter.ipynb │ ├── nb02_pid.ipynb │ ├── nb03_setpoint_generation.ipynb │ ├── nb04_angular_rate_controller.ipynb │ ├── notebook_import.py │ └── test_pid_data.inc └── 10_Mixing │ ├── Mixing.ipynb │ ├── quad.png │ └── quad.svg ├── samples ├── basic │ ├── minimal │ │ ├── CMakeLists.txt │ │ ├── prj.conf │ │ └── src │ │ │ └── main.c │ └── pwm_out │ │ ├── CMakeLists.txt │ │ ├── prj.conf │ │ └── src │ │ └── main.c ├── drivers │ ├── IMU │ │ ├── CMakeLists.txt │ │ ├── boards │ │ │ └── spracing_f3neo.conf │ │ ├── prj.conf │ │ └── src │ │ │ └── main.c │ ├── control_output │ │ ├── CMakeLists.txt │ │ ├── prj.conf │ │ ├── sample.yaml │ │ └── src │ │ │ └── main.c │ ├── mpu6000 │ │ ├── CMakeLists.txt │ │ ├── prj.conf │ │ ├── sample.yaml │ │ └── src │ │ │ └── main.c │ ├── mpu6050 │ │ ├── CMakeLists.txt │ │ ├── prj.conf │ │ └── src │ │ │ └── main.c │ └── rc_in │ │ ├── CMakeLists.txt │ │ ├── boards │ │ ├── native_posix_64.conf │ │ ├── native_posix_64.overlay │ │ ├── openpilot_cc3d.conf │ │ ├── openpilot_cc3d.overlay │ │ ├── stm32f3_disco.conf │ │ └── stm32f3_disco.overlay │ │ ├── prj.conf │ │ ├── sample.yaml │ │ ├── src │ │ └── main.c │ │ └── visualize.html ├── sim │ ├── CMakeLists.txt │ ├── boards │ │ └── native_posix_64.overlay │ ├── prj.conf │ └── src │ │ └── main.cpp └── tuning │ └── gyro │ ├── CMakeLists.txt │ ├── boards │ └── openpilot_cc3d.overlay │ ├── include │ └── gyro_msg.h │ ├── nb01_analyse_gyro_output.ipynb │ ├── prj.conf │ ├── receive.py │ ├── sample.yaml │ └── src │ └── main.c ├── tests ├── drivers │ └── rc │ │ ├── CMakeLists.txt │ │ ├── prj.conf │ │ ├── src │ │ ├── main.c │ │ └── test_rate_setpoint.inc │ │ └── testcase.yaml └── lib │ ├── com │ └── sbus │ │ ├── CMakeLists.txt │ │ ├── prj.conf │ │ ├── src │ │ └── main.c │ │ └── testcase.yaml │ ├── control │ ├── CMakeLists.txt │ ├── prj.conf │ ├── src │ │ ├── main.c │ │ ├── test_low_pass_data.inc │ │ ├── test_pid_data.inc │ │ └── test_ratecontrol.inc │ └── testcase.yaml │ └── mixer │ ├── CMakeLists.txt │ ├── prj.conf │ ├── src │ ├── main.cpp │ ├── test_data.inc │ └── test_data_px_airmode.inc │ └── testcase.yaml ├── tools └── cppcheck.sh ├── west.yml └── zephyr └── module.yml /.github/workflows/cppcheck.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helo9/zephly/HEAD/.github/workflows/cppcheck.yml -------------------------------------------------------------------------------- /.github/workflows/test.yml: -------------------------------------------------------------------------------- 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