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Welcome to the wiki of ACSL-flightstack
A PX4-compatible offboard flight stack designed for multi-rotor UAVs
This project provides an open-source framework for multi-rotor UAVs (uncrewed aerial vehicles) and aims to bridge the gap between control theory and its application to UAV control systems.
Sharing knowledge and reproducing results are at the heart of fundamental research. By providing a freeware open-source architecture, this project aims to support the aerospace controls community.
The principal investigator of ACSL (Advanced Control Systems Lab) at Virginia Tech, Dr. L'Afflitto, champions the open sharing of research outcomes. Sometimes, peer-reviewed papers just aren't enough! This project is a step toward greater transparency and collaboration.
A growing set of control systems, which includes
- Proportional-integral-derivative control
- Robust model reference adaptive control
- Robust two-layer model reference adaptive control (https://lafflitto.com/Documents/LAfflitto_MRAC_Prescribed_Performance.pdf)
- Robust funnel model reference adaptive control with variable constraints
The linked GitHub repository provides MATLAB codes to plot flight test results and shows flight test results obtained by applying this flight stack.
We hope the aerospace community and the controls community may find this project useful. Please:
- Upload new control systems
- Add features
- Share constructive feedback
Your contributions and insights are invaluable! Explore this wiki and the preloaded examples to get started.
Enjoy flying with the ACSL-flightstack!
Let's elevate UAV research together.