DPilot

# Kalman Filter State Prediction Step def predict(self, gx, gy, gz, timestamp): # Calculate dt since last update dt = (timestamp - self.last_update).total_seconds() # Current state: [roll, pitch, roll_rate, pitch_rate, yaw_rate] roll, pitch, roll_rate, pitch_rate, yaw_rate = self.state # Update rates directly from gyroscope (with bias correction on yaw) roll_rate_new = gx pitch_rate_new = gy yaw_rate_new = gz # Bias already corrected in data preparation # Integrate gyroscope rates to update angles roll_new = roll + math.degrees(gx) * dt pitch_new = pitch + math.degrees(gy) * dt # Update state vector self.state = np.array([roll_new, pitch_new, roll_rate_new, pitch_rate_new, yaw_rate_new]) # Update state covariance: P = F·P·F^T + Q F = np.eye(5) # State transition matrix F[0, 2] = dt # roll affected by roll_rate F[1, 3] = dt # pitch affected by pitch_rate self.P = F @ self.P @ F.T + self.Q return self.state # Kalman Filter Measurement Update Step def update_with_accel(self, ax, ay, az): # Calculate attitude from accelerometer roll_acc = math.degrees(math.atan2(ay, math.sqrt(ax*ax + az*az))) pitch_acc = math.degrees(math.atan2(-ax, math.sqrt(ay*ay + az*az))) # Measurement vector z = np.array([roll_acc, pitch_acc]) # Measurement model (maps states to measurements) H = np.zeros((2, 5)) H[0, 0] = 1.0 # roll_acc corresponds to roll H[1, 1] = 1.0 # pitch_acc corresponds to pitch # Innovation: difference between measurement and prediction y = z - H @ self.state # Kalman gain calculation S = H @ self.P @ H.T + self.R_accel K = self.P @ H.T @ np.linalg.inv(S) # Update state and covariance self.state = self.state + K @ y self.P = (np.eye(5) - K @ H) @ self.P return y # Return innovation values for analysis

Aircraft Sensors → Custom PCB ESP32 → LoRa → Ground ESP32 → USB → Pi Zero 2W ↓ ↓ ↓ ├─ IMU (50Hz) ──────→ Filtered data ──────────────────────→ Raw data ├─ GPS (10Hz) ──────→ Position/velocity ─────────────────→ Navigation ├─ ADC (50Hz) ──────→ Aircraft systems ──────────────────→ Health monitoring ├─ AI Camera ───────→ Visual features ──────────────────→ Odometry processing └─ Status ──────────→ Flight status ────────────────────→ Safety monitoring Pi Zero 2W Processing: ├─ H.264 video recording with AI camera (60fps) ├─ Data logging (CSV) at 50Hz unified state ├─ Web interface (port 5000) with live telemetry ├─ WiFi hotspot (field access: dpilot_horizon) ├─ Visual odometry processing and SLAM └─ Mission command generation and planning

VolantexRC Ranger 1600/2000 - Optimized Layout: Nose Section: ├─ Pi (AI or conventional) Camera; inclined at from 20° downwards (looking forward) to visual odometry │ ├─ Visual odometry capability with Sony IMX500 │ ├─ 12MP high-resolution imaging │ └─ AI processing for object detection/tracking ├─ GPS Antenna (clear sky view) └─ Custom 3D printed camera mount Center Fuselage: ├─ Raspberry Pi Zero 2W (custom 3D printed bucket) ├─ Custom PCB ESP32 Module (custom 3D printed bucket) ├─ Power distribution board ├─ LM2596 Buck converter (single unit) └─ Battery bay (LiPo pack) Pusher Motor Section: ├─ D3536 Motor (custom 3D printed mount) ├─ ESC mounting (optimized airflow) ├─ Vibration isolation (3D printed dampeners) └─ Propeller clearance optimization

// MPU6050 IMU Initialization (I²C Bus 1) static const uint8_t SCL_IMU = 48; static const uint8_t SDA_IMU = 47; Wire1.begin(SDA_IMU, SCL_IMU); while (!mpu.begin(MPU6050_I2CADDR_DEFAULT, &Wire1, 0)) { delay(100); Serial.println("Failed to find MPU6050 chip"); } // Configure MPU6050 settings mpu.setAccelerometerRange(MPU6050_RANGE_8_G); mpu.setGyroRange(MPU6050_RANGE_500_DEG); mpu.setFilterBandwidth(MPU6050_BAND_10_HZ); // GPS Module Initialization (Serial2) #define Serial2RxPin 19 #define Serial2TxPin 20 Serial2.begin(38400, SERIAL_8N1, Serial2RxPin, Serial2TxPin); // SD Card Initialization (SPI Bus 2) #define SD_CS 26 #define SD_MOSI 42 #define SD_SCLK 46 #define SD_MISO 45 SPIClass spi1; spi1.begin(SD_SCLK, SD_MISO, SD_MOSI, SD_CS); while (!SD.begin(SD_CS, spi1)) { delay(100); Serial.println("Failed to find SD card"); } // Analog Input Initialization #define analogInPin0 12 // A0 #define analogInPin1 13 // A1 #define analogInPin2 14 // A2 #define analogInPin3 15 // A3 #define analogInPin4 16 // A4 #define analogInPin5 17 // A5 #define analogInPin6 18 // A6 pinMode(A0, INPUT); pinMode(A1, INPUT); pinMode(A2, INPUT); pinMode(A3, INPUT); pinMode(A4, INPUT); pinMode(A5, INPUT); pinMode(A6, INPUT); // Logging Button Initialization #define BUTTON_LOG 41 pinMode(BUTTON_LOG, INPUT_PULLUP);

// TFT Display Initialization (SPI Bus 2) #define TFT_CS 26 #define TFT_DC 45 #define TFT_RST -1 // No reset pin #define TFT_SCLK 46 #define TFT_MOSI 42 SPIClass spiTFT = SPIClass(HSPI); Adafruit_ST7789 tft = Adafruit_ST7789(&spiTFT, TFT_CS, TFT_DC, TFT_RST); // Initialize SPI for TFT spiTFT.begin(TFT_SCLK, -1, TFT_MOSI, TFT_CS); // Initialize the display tft.init(240, 320); // 240x320 resolution tft.setRotation(0); tft.fillScreen(ST77XX_BLACK); // Initialize default reference command for base station initializeDefaultReferenceCommand();

// OLED Display Initialization (Both modes) static SSD1306Wire display(0x3c, 500000, SDA_OLED, SCL_OLED, GEOMETRY_128_64, RST_OLED); VextON(); // Enable Vext power delay(100); display.init(); display.setFont(ArialMT_Plain_10); display.clear(); // LoRa Module Initialization (Both modes) #define RF_FREQUENCY 915000000 // Hz #define TX_OUTPUT_POWER 21 // dBm #define LORA_BANDWIDTH 2 // 500 kHz #define LORA_SPREADING_FACTOR 7 // SF7 #define LORA_CODINGRATE 1 // 4/5 Radio.Init(&RadioEvents); Radio.SetChannel(RF_FREQUENCY); Radio.SetTxConfig(MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH, LORA_SPREADING_FACTOR, LORA_CODINGRATE, 8, false, true, 0, 0, false, 3000); // AES-128 Encryption Initialization byte key[16] = { 0xAA, 0xBB, 0xCC, 0xDD, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88, 0x99, 0x00, 0xFE, 0xED }; aes128.setKey(key, 16); // USB Serial Initialization Serial.begin(115200);