Design Requirements

• Processes sensor data
• Sends acutator commands
• Accurate localization and waypoint following
• Coordinates information flow between guidance, navigation and control algorithms
• Failsafes/backups in case of communication loss, reboot, sensor loss
• Handles communication with base station
• Allows remote control override

Constraints

• Processing power of ESP32

Considerations

• Time is not the biggest constraint because most things don’t need a fast response
• How to handle task priorities like when to log telemetry vs run controls algorithms?
• Which functions should be independent RTOS tasks?
• How to handle overrides/failsafes?
• What format to store logging data in
• What communication protocol to use for telemetry

High Level Flowchart