This repository has the code that will run onboard the ADEPT-FC aircraft, to test flight control with distributed electric propulsion.

1. install dependencies (zcm, Navio2) - instructions in notes directory.
2. build the software make all.
3. copy config_files/rc.local into etc/rc.local

1. Type ./run.sh.
2. This will print outputs to the terminal and to the file outlog.dat (usefull for flights when the terminal isn't attached).

1. Once all the modules are booted, type help me to see a list of options in the monitor app.
2. Must type pwm arm for outputs to be armed, and for logging to begin.
3. Once satisfied, disconnect from the software by typing monitor exit
4. Fly!
5. Regain access to the software by running the monitor app: sudo ./bin/monitor.
6. disarm pwm outputs.
7. type all exit to shutdown all modules.

1. change hitl false to hitl true in config_files/adept_fc.config.
2. Run the autopilot as usual.

note: the 'hitl' module expects udp messages upon startup.

This repository has a mixed license. The header of each source file indicates whether the file falls under the MIT License (see https://github.com/tbretl/adept-fc/blob/master/LICENSE_MIT) or the GPLv3 License (see https://github.com/tbretl/adept-fc/blob/master/LICENSE_GPL).