├── .github └── workflows │ ├── ci-format.yaml │ └── ci.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── BETAFLIGHT_README.md ├── CONTRIBUTING.md ├── Docker ├── dev │ ├── Dockerfile │ └── entrypoint.sh └── nvidia_jetson │ └── Dockerfile ├── LICENSE ├── README.md ├── _images ├── betaflight-simulation.drawio └── betaflight-simulation.drawio.png ├── betaflight_configurator ├── CMakeLists.txt ├── cmake │ └── 99_betaflight_configurator_setup.sh.in └── package.xml ├── betaflight_controller ├── CMakeLists.txt ├── package.xml └── src │ ├── SocketBetaflight.cpp │ ├── SocketBetaflight.hpp │ └── main.cpp ├── betaflight_demo ├── CMakeLists.txt ├── launch │ └── betaflight_demo.launch.py ├── package.xml └── src │ └── altitude_control.cpp ├── betaflight_gazebo ├── CMakeLists.txt ├── include │ └── betaflight_gazebo │ │ ├── BetaflightPlugin.hpp │ │ ├── BetaflightSocket.hpp │ │ └── Util.hpp ├── package.xml └── src │ ├── BetaflightPlugin.cpp │ ├── BetaflightSocket.cpp │ └── Util.cpp ├── betaflight_sim ├── CMakeLists.txt ├── README.md ├── cmake │ └── 99_betaflight_setup.sh.in ├── config │ └── eeprom.bin ├── launch │ ├── quadcopter.launch.py │ └── quadcopter_joystick.launch.py ├── models │ └── iris_with_standoffs │ │ ├── meshes │ │ ├── iris.dae │ │ ├── iris_prop_ccw.dae │ │ └── iris_prop_cw.dae │ │ ├── model.config │ │ └── model.sdf ├── package.xml └── worlds │ └── empty_betaflight_world.sdf ├── dependencies.repos ├── gz_aerial_plugins ├── CMakeLists.txt ├── package.xml └── src │ ├── AttitudeWidget.qml │ ├── CompassWidget.qml │ ├── DroneHmi.config │ ├── DroneHmi.cpp │ ├── DroneHmi.hpp │ ├── DroneHmi.qml │ └── DroneHmi.qrc ├── px4_sim ├── CMakeLists.txt ├── README.md ├── cmake │ └── 99_px4_setup.sh.in ├── config │ ├── multi.yaml │ └── two_isolated.yaml ├── dds_topics.yaml ├── launch │ ├── px4_sim.launch.py │ └── px4_sim_multi.launch.py └── package.xml ├── qgroundcontrol ├── CMakeLists.txt └── package.xml ├── vehicle_gateway ├── CMakeLists.txt ├── include │ └── vehicle_gateway │ │ └── vehicle_gateway.hpp └── package.xml ├── vehicle_gateway_betaflight ├── CMakeLists.txt ├── README.md ├── include │ └── vehicle_gateway_betaflight │ │ └── vehicle_gateway_betaflight.hpp ├── package.xml ├── plugins.xml └── src │ ├── vehicle_gateway_betaflight.cpp │ └── vehicle_gateway_betaflight_main.cpp ├── vehicle_gateway_demo ├── CMakeLists.txt ├── README.md ├── config │ ├── config.rviz │ ├── leader_follower_multicast_discovery.json │ ├── single_marker_tracker.yaml │ └── two_vtols.yaml ├── launch │ └── px4_demo.launch.py ├── package.xml └── src │ ├── aruco_demo.cpp │ ├── circles.cpp │ ├── follower.cpp │ └── vtol_position_control.cpp ├── vehicle_gateway_integration_test ├── CMakeLists.txt ├── package.xml └── test │ ├── CMakeLists.txt │ ├── script │ ├── arm_disarm.py │ ├── takeoff_land.py │ └── takeoff_land_multirobot.py │ ├── test_px4.py │ └── test_px4_multirobot.py ├── vehicle_gateway_models ├── CMakeLists.txt ├── configs_px4 │ ├── rc_cessna_stock │ │ ├── model.config │ │ └── model.sdf │ ├── standard_vtol_camera │ │ ├── model.config │ │ └── model.sdf │ ├── standard_vtol_stock │ │ ├── model.config │ │ └── model.sdf │ ├── x500_camera │ │ ├── model.config │ │ └── model.sdf │ └── x500_stock │ │ ├── model.config │ │ └── model.sdf ├── models │ ├── aruco_marker │ │ ├── materials │ │ │ └── aruco_4x4_50_id_1.png │ │ ├── model.config │ │ └── model.sdf │ ├── camera │ │ ├── model.config │ │ └── model.sdf │ └── standard_vtol_camera │ │ ├── model.config │ │ └── model.sdf └── package.xml ├── vehicle_gateway_multi ├── CMakeLists.txt ├── README.md ├── config │ └── zenoh_all_localhost.json5 ├── package.xml └── src │ ├── vehicle_gateway_multi_bridge.cpp │ └── vehicle_gateway_multi_bridge_client.cpp ├── vehicle_gateway_px4 ├── CMakeLists.txt ├── include │ └── vehicle_gateway_px4 │ │ └── vehicle_gateway_px4.hpp ├── launch │ └── px4.launch.xml ├── package.xml ├── plugins.xml └── src │ └── vehicle_gateway_px4.cpp ├── vehicle_gateway_python ├── CMakeLists.txt ├── examples │ ├── mc_to_fw_to_mc.py │ ├── mc_to_fw_to_offboard.py │ ├── param_tuning_attempts │ │ └── 4004_gz_standard_vtol │ ├── position_control.py │ ├── test_takeoff_land.py │ ├── velocity_control.py │ ├── vtol_body_rates.py │ └── vtol_position_control.py ├── package.xml ├── src │ └── vehicle_gateway_python │ │ ├── _vehicle_gateway_pybind11.cpp │ │ ├── destroyable.cpp │ │ ├── destroyable.hpp │ │ ├── exceptions.hpp │ │ ├── vehicle_gateway.cpp │ │ └── vehicle_gateway.hpp └── vehicle_gateway │ ├── __init__.py │ └── impl │ ├── __init__.py │ └── implementation_singleton.py ├── vehicle_gateway_python_helpers ├── package.xml ├── resource │ └── vehicle_gateway_python_helpers ├── setup.cfg ├── setup.py ├── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py └── vehicle_gateway_python_helpers │ ├── __init__.py │ └── helpers.py ├── vehicle_gateway_sim_performance ├── CMakeLists.txt ├── COLCON_IGNORE ├── include │ ├── linux_cpu_system_measurement.hpp │ └── linux_memory_system_measurement.hpp 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