SLUGS Autopilot embedded code base runs on board the vehicle to be controlled. Currently, we use a duel microprocessor architecture, though that may change in the future.
This repository contains the SIMULINK models that compile into code to be run on each of SLUGS' microprocessors. The controlMCUSlugsMKIINewNav.mdl model holds the control DSC logic, and sensorMCUSlugsMKII.mdl for the sensor DSC. The control DSC handles state estimation, navigation, and actuator control. The sensor DSC reads and calibates vehicle sensors, and is also used for HIL feedthrough during simulation.
Binaries and non-autogenerated state machine code can be found in controlMCUSlugsMKIINewNav_dspic/ and sensorMCUSlugsMKII_dspic/. Low-level code related to the hardware is located in the clib/ folder.