Bhuvanesh Aerospace Controls

bhuvanesh is a small, dependency-free Python library for learning and prototyping drone flight-control loops. The first release provides a bounded PID controller and an X-frame quadrotor attitude mixer. Every demo identifies the project as Bhuvanesh Aerospace Controls.

This project is for simulation and bench testing. Do not connect it to a flying aircraft without adding sensor validation, arming and disarming logic, watchdogs, failsafes, calibrated units, and hardware-in-the-loop testing.

Install on Ubuntu

# Run these commands from the folder containing pyproject.toml.
cd /path/to/bhuvanesh-aerospace-controls
sudo apt update
sudo apt install -y python3 python3-venv python3-pip
python3 -m venv .venv
source .venv/bin/activate
python -m pip install --upgrade pip
python -m pip install -e '.[dev]'
python -m pytest

If Ubuntu reports that ensurepip is unavailable, install the venv package matching your Python minor version, then retry the venv command:

sudo apt install -y "python$(python3 -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}")')-venv"
python3 -m venv .venv

Quick start

from bhuvanesh import Attitude, QuadrotorPID

controller = QuadrotorPID()
result = controller.update(
    target=Attitude(roll=5.0),
    measured=Attitude(roll=2.0),
    throttle=0.50,
    dt=0.01,
)
print(result.motors.as_tuple())

Run the included smoke demo:

python -m bhuvanesh.cli --roll 5 --throttle 0.5
# or, after installation:
bhuvanesh-demo --roll 5 --throttle 0.5

The PID output is bounded, integral windup is limited, and derivative action is based on measured motion to avoid a setpoint kick. Motor commands are normalized from 0 to 1.