vortex-auv VS ardupilot

https://github.com/vortexntnu/vortex-auv (both these are tethered but if you want untethered you can find them in the commercial defence area easily)

u/Khay_ That would be awesome, you are very much welcome to contribute :) I have a lot of thoughts and ideas for the project, but haven't mapped it out yet. What if I tried to set up a backlog for the project as chronological steps and some overall goals, and you can have a look? I have done something similar in the past, but only for an autonomous underwater vehicle written in C++ and Python using ROS (have a look here), and learned a lot from that. I would like to create something similar, but I know a lot of things that can improve from the past architecture.

They are widely used in narrow circles :)

Two of (arguably the best) open source RC aircraft flight controllers (ArduPilot and PX4) are using extended Kalman filters in their state estimators (essentially sensor fusion that provides attitude/position estimate):

https://github.com/ArduPilot/ardupilot/tree/master/libraries...

https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/e...

I'm not that familiar with cleanflight/betaflight/inav scene to know what the FPV racer flight controllers use.

2. https://ardupilot.org/

Trimble also has some nice stuff, I think the BD940 is interesting. I do not know if it's recommended or not, but Ardupilot has a driver for the Septentrio GPS (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_SBF.cpp), as well for Trimble GPS (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_GSOF.cpp). So people have used these brands for drones.

For programmable open source autopilot: Arduino > Ardupilot (https://ardupilot.org).

You might also want to look at something like Ardupilot

I'd like to emphasize the reference to Ardupilot bc there is a lot of material already developed there: a lot about navigation and guidance from UAVs, and the low-level stuff. Check this out