├── .gitattributes ├── .gitignore ├── .readme └── header.jpg ├── 1. Introduction to Autonomous Flight ├── 17. Project Cheat Sheet │ ├── 0001-1.jpg │ └── 0002.jpg └── README.md ├── 2. Planning ├── 1. Planning as Search │ ├── 10. Breadth-First Search │ │ └── BFS-Solution.ipynb │ ├── 12. Uniform Cost Search │ │ └── Cost-Solution.ipynb │ └── 15. Astar │ │ └── A-Star-Solution.ipynb ├── 2. Flying Car Representation │ ├── 10. Euler Rotation │ │ └── Rotations-Solution.ipynb │ ├── 12. Quaternions │ │ └── Quaternions-Solution.ipynb │ ├── 15. Configuration Space │ │ ├── Configuration-Space-Solution.ipynb │ │ ├── colliders.csv │ │ ├── screen-shot-2018-02-22-at-12.49.02-pm.png │ │ └── screen-shot-2018-02-22-at-7.52.49-am.png │ └── 5. Geodetic to NED │ │ └── Geodetic to NED_solution.ipynb ├── 3. From Grids to Graphs │ ├── 13. Medial Axis Skeletonization │ │ ├── Medial-Axis-Solution.ipynb │ │ ├── Medial-Axis.ipynb │ │ ├── colliders.csv │ │ ├── download.png │ │ ├── grid.py │ │ ├── planning.py │ │ └── screen-shot-2018-02-25-at-5.09.06-pm.png │ ├── 14. Voronoi Graphs │ │ ├── Voronoi-Solution.ipynb │ │ ├── Voronoi.ipynb │ │ ├── colliders.csv │ │ └── screen-shot-2018-02-24-at-9.01.56-pm.png │ ├── 15. Graph -Based Astar │ │ ├── Graph-Search-Solution.ipynb │ │ ├── Graph-Search.ipynb │ │ ├── colliders.csv │ │ └── grid.py │ ├── 5. Collinearity │ │ └── Collinearity.ipynb │ ├── 8. Bresenham Algorithm │ │ ├── .ipynb_checkpoints │ │ │ └── Bresenham-checkpoint.ipynb │ │ ├── Bresenham-Solution.ipynb │ │ ├── Bresenham.ipynb │ │ └── bresenham_comparison.png │ └── 9. Finding Your Way In The City │ │ ├── A-Star-City.ipynb │ │ ├── colliders.csv │ │ ├── grid.py │ │ └── planning.py ├── 4. Moving into 3D │ ├── 11. Receding Horizon │ │ ├── Receding-Horizon.ipynb │ │ ├── colliders.csv │ │ ├── grid.py │ │ ├── local-planning-receding-horizon.png │ │ ├── planning.py │ │ ├── sampling.py │ │ └── voxmap.py │ ├── 4. Voxel Maps │ │ ├── Voxel-Map-Solution.ipynb │ │ ├── Voxel-Map.ipynb │ │ ├── city.png │ │ └── colliders.csv │ ├── 7. Random Sampling │ │ ├── Random-Sampling-Solution.ipynb │ │ ├── Random-Sampling.ipynb │ │ ├── colliders.csv │ │ ├── download.png │ │ ├── grid.py │ │ └── screen-shot-2018-02-25-at-8.29.44-pm.png │ └── 9. Probabilistic Roadmap │ │ ├── Probabilistic-Roadmap-Solution.ipynb │ │ ├── Probabilistic-Roadmap.ipynb │ │ ├── colliders.csv │ │ ├── download.png │ │ ├── grid.py │ │ └── sampling.py ├── 5. Real Word Planning │ ├── 10. Rapidly-Exploring Random Tree │ │ ├── RRT-Solution.ipynb │ │ ├── RRT.ipynb │ │ └── screen-shot-2018-03-05-at-7.02.06-pm.png │ ├── 14. Potential Field Planning │ │ ├── Potential-Field-Solution.ipynb │ │ ├── Potential-Field.ipynb │ │ ├── force-attractive.png │ │ ├── forces.png │ │ └── screen-shot-2018-03-05-at-7.08.57-pm.png │ ├── 5. Modeling Dynamics │ │ └── Dynamics-Model.ipynb │ ├── 6. Dubins Car │ │ ├── Dubins-Car-Solution.ipynb │ │ ├── Dubins-Car.ipynb │ │ └── screen-shot-2018-03-05-at-6.41.27-pm.png │ ├── 9. Steering │ │ ├── Steering-Solution.ipynb │ │ ├── Steering.ipynb │ │ ├── randomly-sampling-controls.png │ │ └── screen-shot-2018-03-06-at-9.17.26-pm.png │ ├── README.md │ └── papers │ │ └── pathplanforMAV_icra13.pdf ├── README.md └── utm-zones.jpg ├── 3. Controls ├── 1. Vehicle Dynamics │ ├── 10. Unbalanced Moments │ │ ├── unbalanced-moments-1.png │ │ └── unbalanced-moments-2.png │ ├── 11. Coaxial Drones │ │ ├── 1. Coaxial Drone Dynamics SOLUTION.ipynb │ │ ├── 1. Coaxial Drone Dynamics.ipynb │ │ └── Drone1.png │ ├── 15. Tracking Changes to State │ │ ├── 2. Advance State for Controlled Drone SOLUTION.ipynb │ │ └── 2. Advance State for Controlled Drone.ipynb │ ├── 17. Uncontrolled Drone │ │ ├── 3. Uncontrolled 2D Drone SOLUTION.ipynb │ │ ├── 3. Uncontrolled 2D Drone.ipynb │ │ └── Drone2.png │ ├── 19. Decomposing Thrust Vectors │ │ ├── 16-decomposing-thrust-vectors-16-v2.png │ │ └── decomposing-thrust-vectors.png │ ├── 20. Calculating Forces │ │ ├── Screenshot from 2020-05-02 15-05-54.png │ │ ├── Screenshot from 2020-05-02 15-07-46.png │ │ ├── screen-shot-2018-03-12-at-7.17.59-pm.png │ │ ├── screen-shot-2018-03-12-at-7.18.10-pm.png │ │ └── screen-shot-2018-03-12-at-7.18.24-pm.png │ ├── 22. Calculating Accelerations in 2D │ │ ├── 4. Calculating Accelerations in 2D.ipynb │ │ └── 5. Controlling a 2D Quad SOLUTION.ipynb │ ├── 24. Controlling a 2D Drone │ │ ├── 2D Controlled Quad SOLUTION.ipynb │ │ └── 5. Controlling a 2D Quad.ipynb │ └── ExerciseAnswers.py ├── 2. Vehicle Control │ ├── 1. Control.png │ ├── 10. P Controller Tuning │ │ ├── P Controller Tuning.ipynb │ │ ├── controllers.py │ │ ├── plotting.py │ │ ├── screen-shot-2018-08-07-at-1.17.16-pm.png │ │ ├── simplified_monorotor.py │ │ ├── testing.py │ │ └── trajectories.py │ ├── 13. PD Controller │ │ ├── PD Controller Solution.ipynb │ │ ├── PD Controller.ipynb │ │ ├── controllers.py │ │ ├── plotting.py │ │ ├── screen-shot-2018-08-08-at-10.45.39-am.png │ │ ├── screen-shot-2018-08-08-at-12.52.21-pm.png │ │ ├── simplified_monorotor.py │ │ ├── testing.py │ │ └── trajectories.py │ ├── 15. PD with Feedforward │ │ ├── PD with FF Solution.ipynb │ │ ├── PD with FF.ipynb │ │ ├── controllers.py │ │ ├── plotting.py │ │ ├── screen-shot-2018-08-13-at-12.51.37-pm.png │ │ ├── simplified_monorotor.py │ │ ├── testing.py │ │ └── trajectories.py │ ├── 16. determining-kp-and-kd-as-damped-oscillation.png │ ├── 16. determining-kp-and-kd.png │ ├── 16. pd-with-feedforward.png │ ├── 17. Parameter Tuning Best Practices.png │ ├── 17. Screenshot from 2020-05-02 16-02-50.png │ ├── 17. screen-shot-2018-08-14-at-1.39.16-pm.png │ ├── 18. More Model Errors │ │ ├── More Model Errors.ipynb │ │ ├── controllers.py │ │ ├── plotting.py │ │ ├── simplified_monorotor.py │ │ ├── testing.py │ │ └── trajectories.py │ ├── 19. PID Control 2.png │ ├── 19. PID Control.png │ ├── 20. PID Controller │ │ ├── PID Controller Solution.ipynb │ │ ├── PID Controller.ipynb │ │ ├── controllers.py │ │ ├── plotting.py │ │ ├── simplified_monorotor.py │ │ ├── testing.py │ │ └── trajectories.py │ ├── 21. Example - 1.png │ ├── 21. Example - 2.png │ ├── 21. Example - 3.png │ ├── 21. Example - 4.png │ ├── 21. Example - 5.png │ ├── 21. PI Controller.png │ ├── 21. PID Controller in practice.md │ ├── 21. PID Controller.md │ ├── 21. PID Controller.png │ ├── 22. Example - 1.png │ ├── 22. Example - 2.png │ ├── 22. PID Controller in practice │ │ ├── 20sim │ │ │ ├── antiwindup1.gif │ │ │ ├── antiwindupgs.gif │ │ │ ├── limit_zoom80.jpg │ │ │ ├── parallelformawdiagram.gif │ │ │ ├── parallelformawdiagram_zoom80.jpg │ │ │ ├── proportionalbandplot1.gif │ │ │ └── seriesformawdiagram.gif │ │ └── README.md │ ├── 23. Summary - 1.png │ ├── 23. Summary - 2.png │ ├── 4. Open Loop │ │ ├── Open Loop.ipynb │ │ ├── controllers.py │ │ ├── plotting.py │ │ ├── simplified_monorotor.py │ │ ├── testing.py │ │ └── trajectories.py │ ├── 8. P Controller │ │ ├── P Controller Solution.ipynb │ │ ├── P Controller.ipynb │ │ ├── controllers.py │ │ ├── plotting.py │ │ ├── simplified_monorotor.py │ │ ├── testing.py │ │ └── trajectories.py │ └── README.md ├── 3. Control Architecture │ ├── 10. Linearization Intuition - 2.png │ ├── 10. Linearization intuition - 1.png │ ├── 11. Linearization │ │ └── Linearization.ipynb │ ├── 14. Linear Cascaded Control │ │ ├── CascadingController2.png │ │ ├── Drone2.png │ │ ├── Linear Controller Solution.ipynb │ │ ├── Linear Controller.ipynb │ │ ├── controllers.py │ │ ├── drone.py │ │ ├── plotting.py │ │ ├── simulate.py │ │ └── trajectories.py │ ├── 17. Non-Linear Controller │ │ ├── Non-Linear Controller Solution.ipynb │ │ ├── Non-Linear Controller.ipynb │ │ ├── controllers.py │ │ ├── drone.py │ │ ├── plotting.py │ │ ├── simulate.py │ │ └── trajectories.py │ ├── 18. Comparing Trajectories │ │ ├── Comparing Trajectories.ipynb │ │ ├── controllers.py │ │ ├── drone.py │ │ ├── plotting.py │ │ ├── simulate.py │ │ └── trajectories.py │ ├── 2. Intro to 2D Dynamics.png │ ├── 2. Rotor Physics.png │ ├── 3. Underactuation - 1.png │ ├── 3. Underactuation - 2.png │ ├── 4. Coupling - 1.png │ ├── 4. Coupling - 2 - Controlling phi.png │ ├── 4. Coupling - 3 - Controlling y.png │ ├── 4. Coupling - 4 - Controlling z.png │ ├── 4. Coupling.md │ ├── Control Architecture │ │ ├── CascadingController2.png │ │ ├── Drone2.png │ │ ├── Lesson 3 - Control Architecture.ipynb │ │ ├── controllers.py │ │ ├── drone.py │ │ ├── plotting.py │ │ ├── simulate.py │ │ └── trajectories.py │ ├── Drone2.png │ ├── Drone3.png │ ├── README.md │ ├── k_d.png │ ├── phi_k_p.png │ └── phi_k_p2.png └── 4. Full 3D Control │ ├── 11. Integrating PQR into the World Frame - Turn Rates.png │ ├── 11. Integrating PQR into the World Frame.md │ ├── 11. Integrating PQR into the World Frame.png │ ├── 16. First vs Second Order Systems.md │ ├── 16. First vs Second Order Systems.png │ ├── 17. screen-shot-2018-11-02-at-11.19.56-am.png │ ├── 17. screen-shot-2018-11-02-at-11.21.38-am.png │ ├── 17. screen-shot-2018-11-02-at-11.23.49-am.png │ ├── 24. Trajectory Generation │ └── Trajectory generation linear segments 1 and 3 D .ipynb │ ├── 25. Polynomial Segmentation │ └── Trajectory generation polynomial.ipynb │ ├── 8. Tracking Rotations in 3D - 1.png │ ├── 8. Tracking Rotations in 3D - 2.png │ ├── 9. Euler's Equations in a Rotating Frame.png │ ├── Screenshot from 2020-05-02 22-01-12.png │ ├── notebook │ ├── Drone1.png │ ├── Drone2.png │ ├── Lesson 4 - 3D Drone-Full-Notebook.ipynb │ ├── control1.png │ ├── control1_mod.png │ ├── control2.png │ ├── drone1_1.png │ ├── solution.py │ └── testing.py │ └── papers │ ├── Mellinger.pdf │ ├── Roy_Polynomial trajectory.pdf │ ├── attitude.pdf │ ├── schoellig-acc12.pdf │ └── schoellig_feasibility_of_motion_primitives.pdf ├── 4. Estimation ├── 1. Introduction to Estimation │ ├── 12. 2D Gaussian │ │ ├── 2D-Gaussian-Solution.ipynb │ │ ├── 2D-Gaussian.ipynb │ │ └── data.txt │ ├── 22. Least Squares │ │ ├── Least-Squares-Solution.ipynb │ │ └── Least-Squares.ipynb │ ├── 24. Recursive Estimation │ │ ├── Recursive-Estimation-Solution.ipynb │ │ └── Recursive-Estimation.ipynb │ ├── 27. Non-Linear Least Squares │ │ ├── Non-Linear-Least-Squares-Solution.ipynb │ │ └── Non-Linear-Least-Squares.ipynb │ ├── 7. Expected Value vs Variance │ │ └── Expected Value vs Variance.ipynb │ └── 9. Uniform Distribution │ │ └── Uniform Distribution.ipynb ├── 2. Introduction to Sensors │ ├── 10. Euler Forward Method.png │ ├── 12. Dead Reckoning in 3D │ │ ├── Dead_Reckoning_3D-Solution.ipynb │ │ ├── Dead_Reckoning_3D-Student.ipynb │ │ ├── Drone1.png │ │ ├── Drone2.png │ │ ├── Drone3D2.png │ │ ├── Dronein3D.png │ │ ├── Object1.png │ │ ├── flightpath.py │ │ ├── flightpath3D.py │ │ ├── test_three_d_object.py │ │ └── test_two_d_object.py │ ├── 18. IMU Calibration │ │ ├── Calibration_in_3D-Solution.ipynb │ │ ├── Calibration_in_3D-Student.ipynb │ │ ├── Drone3D2.png │ │ ├── calibrating_object.py │ │ └── misalignment_calibration.py │ ├── 21. Magnetometer Calibration │ │ ├── Magnetometer_calibration-Solution.ipynb │ │ ├── Magnetometer_calibration-Student.ipynb │ │ └── magnetic_field_measurements.py │ ├── 24. GPS Summary.png │ ├── 26. Barometer Errors and Calibration.png │ ├── 26. Barometer Summary.png │ ├── 27. Barometer and GPS integration │ │ ├── Barometer and GPS Integration - Solution.ipynb │ │ ├── Barometer and GPS Integration - Student.ipynb │ │ └── Measurements.py │ ├── 8. Gyroscope Measurements │ │ ├── Gyroscope_Measurements-Solution.ipynb │ │ ├── Gyroscope_Measurements-Student.ipynb │ │ └── gyro_test.py │ └── 9. Dead Reckoning Uncertainty.png ├── 3. Extended Kalman Filters │ ├── 15. Kalman Filter │ │ ├── CoaxialDrone.py │ │ ├── DronewithPIDControllerKF.py │ │ ├── Kalman_Filter-Solution.ipynb │ │ ├── Kalman_Filter-Student.ipynb │ │ ├── PIDcontroller.py │ │ ├── PathGeneration.py │ │ └── StateSpaceDisplay.py │ ├── 20. Extended Kalman Filter │ │ ├── DronewithPIDControllerEKF2D.py │ │ ├── EKF-Solution.ipynb │ │ ├── EKF-Student.ipynb │ │ ├── EKF2D.png │ │ ├── PIDcontroller.py │ │ ├── PathGeneration.py │ │ ├── StateSpaceDisplayFor2D.py │ │ └── Sympy Demonstration.ipynb │ └── 7. Controlling with Noisy Measurements │ │ ├── Averaging-Student.ipynb │ │ ├── CoaxialDrone.py │ │ ├── DronewithPIDControllerParameters.py │ │ ├── PIDcontroller.py │ │ └── PathGeneration.py ├── 4. The 3D EKF and UKF │ ├── 13. Drone in 3D │ │ ├── Drone_in_3D-Solution.ipynb │ │ └── Dronein3D.png │ ├── 18. Unscented Kalman Filter │ │ ├── CoaxialDrone.py │ │ ├── DronewithPIDControllerUKF.py │ │ ├── PIDcontroller.py │ │ ├── PathGeneration.py │ │ ├── UKF-Solution.ipynb │ │ └── UKF-Student.ipynb │ ├── 4. EKF Tradeoffs 1 - 1.png │ ├── 4. EKF Tradeoffs 1 - 2.png │ ├── 7. Complementary Filter.png │ ├── 8. Attitude Estimation │ │ ├── Attitude estimation-Solution-Revised.ipynb │ │ ├── Attitude estimation-Solution.ipynb │ │ ├── Attitude estimation-Student-Revised.ipynb │ │ ├── LoggedData1.csv │ │ └── helpers.py │ ├── README.md │ └── papers │ │ ├── 10.1.1.5.2891.pdf │ │ ├── ACC02-IEEE1357.pdf │ │ ├── FusingUltra-widebandRangeMeasurementsWithAccelerometersAndRateGyroscopesForQuadrocopterStateEstimation.pdf │ │ ├── P_2016_CovarianceCorrectionStepForKalmanFilteringWithAnAttitude.pdf │ │ ├── fusing.pdf │ │ └── unscented.pdf ├── 6. GPS Denied Navigation │ ├── 13. Numerical Estimation - Vehicle Models │ │ ├── Numerical-Estimation-Solution.ipynb │ │ ├── Numerical-Estimation.ipynb │ │ ├── colliders.csv │ │ └── utils.py │ ├── 14. Importance Sampling - Bayes Rule.png │ ├── 14. Sampling from Arbitrary Distributions.png │ ├── 17. Sensor Fusion │ │ ├── Sensor-Fusion.ipynb │ │ ├── colliders.csv │ │ └── utils.py │ ├── 19. Particle Filter │ │ ├── Particle-Filter-Solution.ipynb │ │ ├── Particle-Filter.ipynb │ │ ├── colliders.csv │ │ └── utils.py │ ├── 5. Good Features To Track │ │ ├── Feature-Tracker-Solution.ipynb │ │ ├── Feature-Tracker.ipynb │ │ ├── out.mp4 │ │ └── vid.mp4 │ ├── 6. Tracking a Single Picture.png │ ├── 6. Tracking a Single Pixel - Math - 1.png │ ├── 6. Tracking a Single Pixel - Math - 2.png │ ├── 7. Lucas-Kanade Optical Flow - Least Squares.png │ ├── 8. Optical Flow │ │ ├── Optical-Flow-Solution.ipynb │ │ ├── Optical-Flow.ipynb │ │ ├── out.mp4 │ │ └── vid.mp4 │ ├── 9. Translating Optical Flow to Vehicle Velocity - 2.png │ └── 9. Translating Optical Frow to Vehicle Velocity - 1.png ├── Estimators for Quadrotors │ ├── Estimation_for_Quadrotors.pdf │ ├── README.md │ ├── main.bib │ └── root.tex └── README.md ├── 7. Fixed Wing ├── .readme │ └── header.jpg ├── 2. Lift and Drag │ ├── 16. Lift and Drag Exercise │ │ ├── Aerodynamics-Solution.ipynb │ │ ├── Aerodynamics-Student.ipynb │ │ ├── Cessna.py │ │ ├── TestCode.py │ │ └── cessna172.png │ ├── 7. Rotation matrixes │ │ └── Lesson 2.7 - Rotation matrixes.ipynb │ ├── calculating-lift.png │ ├── cheat-sheet.pdf │ ├── cheat-sheet.tex │ ├── downwash-relative-airflow.png │ ├── downwash.png │ ├── force-directions.png │ ├── frames-angle-references.png │ ├── frames-body.png │ ├── frames-stability.png │ ├── frames-world.png │ ├── mathematical-models.png │ └── physics-review-acceleration.png ├── 3. Longitudinal Model │ ├── 10. Exploring Complex Exponentials │ │ └── complex_exponentials.ipynb │ ├── 13. Identifying Eigenvalues │ │ ├── Cessna.py │ │ ├── Linear Model with Phugoidal modes-Solution.ipynb │ │ ├── Linear Model with Phugoidal modes-Student.ipynb │ │ └── Trim.py │ └── 5. Exploring Longidutinal Dynamics │ │ ├── Longitudinal model-Solution.ipynb │ │ ├── Longitudinal model-Student.ipynb │ │ ├── PreviousLessonObjects.py │ │ └── plot.png ├── 4. Directional Model │ └── 9. Identifying Dynamic Modes │ │ └── Linearized Lateral model-Student.ipynb ├── 5. Fixed-Wing Autopilot │ ├── 11. 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