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Unscented Kalman Filter library for state and parameter estimation
NMPC system for UAV control
Flight control system firmware for the SFWA CPU board DSP (TMS320C6657) and CPLD (EPM1270)
Fork of buildroot for CPU board
SFWA I/O board monitor program, interfacing an AVR32UC3C with HMC5883L magnetometer, MPU6000 6DOF IMU, MS5611 barometric pressure sensor, MS4525DO differential pressure sensor, and u-blox GPS.
Periodically captures images from a Point Grey Chameleon camera and saves associated telemetry
qpDUNES - an implementation of the DUal NEwton Strategy for quadratic programming
Straightforward UKF-based scale and bias calibration for magnetometers (and other tri-axial field sensors).