├── .bazelrc ├── .gitignore ├── .travis.yml ├── BOM.md ├── BUILD ├── LICENSE ├── README.md ├── WORKSPACE ├── base ├── BUILD ├── aspect_ratio.cc ├── aspect_ratio.h ├── async_i2c.h ├── bezier.h ├── circular_buffer.h ├── common.h ├── component_archives.h ├── context.cc ├── context.h ├── context_full.h ├── error_wrap.h ├── euler.h ├── fail_functor.h ├── fit_plane.cc ├── fit_plane.h ├── format_hex.cc ├── format_hex.h ├── git_info.cc ├── git_info.h ├── git_info_linkstamp.cc ├── handler_util.h ├── interpolate.h ├── kinematic_relation.h ├── leg_force.cc ├── leg_force.h ├── linux_input.cc ├── linux_input.h ├── logging.cc ├── logging.h ├── module_main.bzl ├── module_main.h ├── named_type.h ├── point3d.h ├── quaternion.cc ├── quaternion.h ├── reservoir_sampler.h ├── runfiles.h ├── saturate.h ├── signal_result.h ├── sophus.h ├── stringify.h ├── system_fd.cc ├── system_fd.h ├── system_mmap.h ├── telemetry_log_registrar.h ├── telemetry_registry.h ├── telemetry_remote_debug_registrar.h ├── telemetry_remote_debug_server.cc ├── telemetry_remote_debug_server.h ├── test │ ├── aspect_ratio_test.cc │ ├── bezier_test.cc │ ├── fit_plane_test.cc │ ├── leg_force_test.cc │ ├── linux_input_manual_test.cc │ ├── named_type_test.cc │ ├── quaternion_test.cc │ ├── se3d_test.cc │ ├── signal_result_test.cc │ ├── sophus_test.cc │ ├── telemetry_log_registrar_test.cc │ ├── telemetry_registry_test.cc │ ├── test_main.cc │ ├── udp_manual_test.h │ └── ukf_filter_test.cc ├── timestamped_log.cc ├── timestamped_log.h ├── tokenizer.h ├── udp_data_link.cc ├── udp_data_link.h ├── udp_socket.cc ├── udp_socket.h └── ukf_filter.h ├── configs ├── BUILD ├── hoverbot.cfg └── hoverbot.ini ├── docs ├── diagrams │ ├── 1d_swing.blend │ ├── 1d_swing.png │ ├── as5047_noise_plot.py │ ├── magnetic_saturation.odg │ ├── phase_current.py │ ├── support_line.blend │ ├── support_line.png │ └── torque_compensation.py ├── geometry.md ├── numbered-targets.odp └── quada1 │ └── README.md ├── hw ├── battery_pcb │ ├── bosch_pcb-r1.zip │ ├── bosch_pcb.kicad_pcb │ ├── bosch_pcb.kicad_prl │ ├── bosch_pcb.kicad_pro │ ├── bosch_pcb.kicad_sch │ └── r1 │ │ ├── bosch_pcb-B_Cu.gbr │ │ ├── bosch_pcb-B_Mask.gbr │ │ ├── bosch_pcb-B_Paste.gbr │ │ ├── bosch_pcb-B_Silkscreen.gbr │ │ ├── bosch_pcb-Edge_Cuts.gbr │ │ ├── bosch_pcb-F_Cu.gbr │ │ ├── bosch_pcb-F_Mask.gbr │ │ ├── bosch_pcb-F_Paste.gbr │ │ ├── bosch_pcb-F_Silkscreen.gbr │ │ ├── bosch_pcb-NPTH.drl │ │ ├── bosch_pcb-PTH.drl │ │ └── bosch_pcb-job.gbrjob ├── gopro_mount.3mf ├── gopro_mount.stl ├── hoverbot_base.3mf ├── hoverbot_base.stl ├── hoverbot_base_cover.stl ├── hoverbot_battery_cover.stl ├── hoverbot_battery_rail1.stl ├── hoverbot_battery_rail2.stl ├── hoverbot_chassis.3mf ├── hoverbot_chassis.stl ├── hoverbot_chassis_cover.3mf ├── hoverbot_chassis_cover.stl ├── hoverbot_motor_mount1.stl ├── hoverbot_motor_mount2.stl └── hoverbot_rails_base_cover.3mf ├── install-packages ├── mech ├── BUILD ├── attitude_data.h ├── camera_driver.cc ├── camera_driver.h ├── control_timing.h ├── hoverbot.cc ├── hoverbot.h ├── hoverbot_command.h ├── hoverbot_config.h ├── hoverbot_context.h ├── hoverbot_control.cc ├── hoverbot_control.h ├── hoverbot_state.h ├── imu_client.h ├── imu_data.h ├── mime_type.cc ├── mime_type.h ├── moteus.h ├── moteus_tool_main.cc ├── multiplex_tool_main.cc ├── pi3hat_interface.h ├── pi3hat_wrapper.cc ├── pi3hat_wrapper.h ├── system_info.cc ├── system_info.h ├── test │ └── test_main.cc ├── trajectory.h ├── web_control.h ├── web_control_assets │ ├── index.html │ ├── js │ │ └── app.js │ ├── mjbots.png │ └── styles.css ├── web_server.cc └── web_server.h ├── tools ├── bazel ├── workspace │ ├── BUILD │ ├── bazel_deps │ │ ├── BUILD │ │ └── repository.bzl │ ├── default.bzl │ ├── generate_file.bzl │ ├── github_archive.bzl │ ├── gst-rpicamsrc │ │ ├── BUILD │ │ ├── package.BUILD │ │ └── repository.bzl │ ├── i2c-tools │ │ ├── BUILD │ │ ├── package.BUILD │ │ └── repository.bzl │ ├── implot │ │ ├── BUILD │ │ ├── empty-legend.diff │ │ ├── package.BUILD │ │ └── repository.bzl │ ├── mjlib │ │ ├── BUILD │ │ └── repository.bzl │ ├── moteus │ │ ├── BUILD │ │ └── repository.bzl │ ├── pi3hat │ │ ├── BUILD │ │ └── repository.bzl │ ├── raspberrypi-firmware │ │ ├── BUILD │ │ ├── package.BUILD │ │ └── repository.bzl │ ├── raspicam │ │ ├── BUILD │ │ ├── package.BUILD │ │ ├── raspicam.diff │ │ └── repository.bzl │ ├── rpi_bazel │ │ ├── BUILD │ │ └── repository.bzl │ ├── rules_pkg │ │ ├── BUILD │ │ └── repository.bzl │ ├── sophus │ │ ├── BUILD │ │ ├── package.BUILD │ │ └── repository.bzl │ └── template_file.bzl └── workspace_status.sh ├── travis-ci.py └── utils ├── BUILD ├── config_servos.py ├── hoverbot-start.sh ├── hoverbot.cmd ├── hoverbot_screen.conf ├── performance_governor.sh ├── rpi3 └── setup-system.py ├── ssh ├── default.ssh └── default.ssh.pub └── start-robot.sh /.bazelrc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mjbots/hoverbot/HEAD/.bazelrc 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