aerial-kit

Control Stack for aerial robots, no ROS & matplotlib dependency.

For firmware, hardware integration, and the full ROS 2 / simulation stack, visit the repo: github.com/RawFish69/aerial-kit.

What's in it

• aerial_kit.types - SimState, ControlTarget, Capabilities, Wrench, CommandKind, Waypoint
• aerial_kit.interfaces - Controller, DynamicsBackend, Planner ABCs
• aerial_kit.registry - a pluggable component registry (register_airframe/register_controller/etc., create_* factories)
• aerial_kit.airframes - Airframe ABC, MultirotorAirframe (mixer-driven quad/hex/ octo), TwinWingAirframe (elevon + differential-thrust allocation, trim)
• aerial_kit.dynamics - 6-DOF multirotor dynamics, point-mass dynamics, and a hand-rolled 6-DOF fixed-wing model with a flat-plate-blended lift curve, drag polar, and moment derivatives
• aerial_kit.controllers - PID/LQR/MPC position controllers, and FixedWingL1TECSController (L1 lateral guidance + TECS-lite longitudinal control + coordinated-turn attitude PID)
• aerial_kit.guidance - l1_bank_command, tecs_command as standalone functions

Quick start

from aerial_kit.registry import register_builtin_components, create_airframe, create_controller

register_builtin_components()
airframe = create_airframe("quad")
controller = create_controller("pid")
print(airframe.capabilities)

register_builtin_components() here registers only what lives inside aerial_kit itself (airframes, controllers) - it has no ROS or matplotlib dependency and does not know about any host application's own dynamics backends or planners. A host application (like sim_py in the parent repo) registers its own backends/planners into the same registry alongside this.

Status

Early and actively developed. Be clear-eyed about what's actually verified:

• Multirotor (quad/hex/octo airframes, PID/LQR/MPC): verified, working. This is the path flying on real hardware in the parent project.
• Twin-motor wing (TwinWingAirframe, FixedWingL1TECSController, L1/TECS guidance): under development, simulation-only. Not flown on any hardware. Its 6-DOF aero model uses plausible placeholder coefficients, not a fitted model of any specific real airframe, and its guidance gains are validated only in the specific simulated scenarios its own test suite covers - treat it as a research/simulation component, not something to fly as-is.

License

MIT