Navigator

Navigator is the Vayu ground control station, a Qt6 desktop application. It connects over serial or network and has attitude, IMU, RC, motor, control-loop, packet and log views, calibration and settings, and an in-app simulator (SITL) with a 3D world. The same repository holds a headless Python SDK, vayu_headless, and a PID autotuner.

Who it is for

Pilots and developers tuning and testing Vayu flight controllers.

Navigator

1.0.0 in CMake, not tagged or released

NavLink submodule

v2.4.0

Simulator SDK

Vayu v0.2.1

vayu_headless

0.0.1

This book

9 of 11 chapters written

Chapters

1. 01What Navigator isNavigator is the ground control station (GCS) of the Vayu stack.
2. 02Architecture and threadingNavigator has two jobs that want different rhythms. Telemetry arrives in bursts at whatever rate the vehicle sends it.
3. 03Links and the telemetry source state machineNavigator is fed from a serial port, a UDP socket, the in-app simulator, or a recorded file, never a mix.
4. 04NavLink on the GCS sideThis chapter covers how Navigator turns NavLink bytes into values a screen can show, and how a command goes back out.
5. 05The flight screensThis chapter walks through the pages of the normal (non-docked) window and says, for each one, what it shows and which data path feeds it.
6. 06The in-app simulatorNavigator can fly the Vayu firmware without hardware. The firmware is compiled for the host and loaded into Navigator's process as a shared library.
7. 07Record and replay, logs and ground truthNavigator writes four kinds of files. This chapter says what each is, where it goes and how to read it.
8. 08Autotune and the headless SDKBoth features run the real flight-controller logic against the simulator without a person at the controls.
9. 09Chapter 9Coming soon
10. 10Build, install, testThere is no packaged release. The repository has no git tags, locally or on the remote.
11. 11Chapter 11Coming soon

Written from the ragnar-vallhala/navigator repository. Each chapter ends with the sources it was checked against.