Crate peng_quad

Peng - A Minimal Quadrotor Autonomy Framework

A high-performance quadrotor autonomy framework written in Rust that provides real-time dynamics simulation, trajectory planning, and control with modern visualization capabilities.

Features

Real-time Simulation

• High-fidelity quadrotor dynamics with configurable parameters
• IMU and depth sensor simulation
• Optional RK4 integration for accurate dynamics

Advanced Control

• PID control for position and attitude with tunable gains
• Integral windup prevention
• Support for different control frequencies

Rich Trajectory Planning

• Minimum jerk line trajectory planner
• Lissajous curve planner
• Circular trajectory planner
• Obstacle avoidance planner
• Waypoint navigation planner
• Landing planner

Visualization & Debug

• Real-time 3D visualization via rerun.io
• Depth map rendering
• State telemetry logging
• Configurable logging frequencies

Performance

• Memory-safe and Efficient Rust implementation
• Multi-threaded depth rendering

Example

use nalgebra::Vector3;
use peng_quad::{Quadrotor, SimulationError};
let (time_step, mass, gravity, drag_coefficient) = (0.01, 1.3, 9.81, 0.01);
let inertia_matrix = [0.0347563, 0.0, 0.0, 0.0, 0.0458929, 0.0, 0.0, 0.0, 0.0977];
let quadrotor = Quadrotor::new(time_step, mass, gravity, drag_coefficient, inertia_matrix);

Modules

config

Configuration module

Structs

Camera

Represents a camera in the simulation which is used to render the depth of the scene

CirclePlanner

Planner for circular trajectories

HoverPlanner

Planner for hovering at a fixed position

Imu

Represents an Inertial Measurement Unit (IMU) with bias and noise characteristics

LandingPlanner

Planner for landing maneuvers

LissajousPlanner

Planner for Lissajous curve trajectories

Maze

Represents a maze in the simulation

MinimumJerkLinePlanner

Planner for minimum jerk trajectories along a straight line

MinimumSnapWaypointPlanner

Waypoint planner that generates a minimum snap trajectory between waypoints

Obstacle

Represents an obstacle in the simulation

ObstacleAvoidancePlanner

Obstacle avoidance planner that uses a potential field approach to avoid obstacles

PIDController

PID controller for quadrotor position and attitude control

PlannerManager

Manages different trajectory planners and switches between them

PlannerStepConfig

Represents a step in the planner schedule.

QPpolyTrajPlanner

Waypoint planner that generates a quadratic polynomial trajectory between waypoints

Quadrotor

Represents a quadrotor with its physical properties and state

Trajectory

A struct to hold trajectory data

Enums

PlannerType

Enum representing different types of trajectory planners

SimulationError

Represents errors that can occur during simulation

Traits

Planner

Trait defining the interface for trajectory planners

Functions

color_map_fn

turbo color map function

create_planner

Creates a planner based on the configuration

log_data

Logs simulation data to the rerun recording stream

log_depth_image

Log depth image data to the rerun recording stream

log_maze_obstacles

Log the maze obstacles to the rerun recording stream

log_maze_tube

Log the maze tube to the rerun recording stream

log_pinhole_depth

creates pinhole camera

log_trajectory

log trajectory data to the rerun recording stream

parse_f32

Helper function to parse f32 from YAML

parse_usize

Helper function to parse unsigned integer from YAML

parse_vector3

Helper function to parse Vector3 from YAML

ray_cast

Casts a ray from the camera origin in the given direction

update_planner

Updates the planner based on the current simulation step and configuration