Propulsion and Lift System

The airframe has 4 ducted fans that are fixed to the airframe. Thrust differentials are created by changing the rotational speed of individual fans to affect the attitude.

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Control

The fundamental flight controller is CC3D Revo which provides attitude data, fan speed modulation, historical data, and various other features. On top of this is a Jetson TX1 running a ROS environment.

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Navigation

MoveIt! is a ROS plugin that allows predictive and actualized path planning based on a passed 3D environment. It is also capable of attitude achievement in route and dynamic reorientation.

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