← Vayu

Current Status and Roadmap

Current Status

Vayu has reached a functional stage where the core flight control pipeline is fully implemented and operational. The system supports end-to-end execution from sensor acquisition to motor actuation, enabling closed-loop control suitable for real-time applications.

The current implementation includes:

  • Sensor integration using BMX160 (9-axis IMU) and BMP180 (barometer)

  • State estimation using complementary and Mahony filters

  • Cascaded control system with rate (1 kHz) and attitude (250 Hz) loops

  • PWM-based motor actuation using hardware timers

  • RC input via iBus protocol with DMA-based reception

  • Structured telemetry system with multi-rate data streaming

  • Persistent logging using VFS with SD card support

  • Preemptive RTOS-based execution using VAIOS

The system is capable of stable real-time operation with modular task-based execution. Core subsystems have been tested in isolation and integrated environments, and the overall architecture has been validated through system-level execution.

Roadmap

The development of Vayu is ongoing, with focus on improving robustness, feature completeness, and system scalability. The roadmap is structured into short-term and long-term goals.

Short-Term Goals:

  • Hardware validation through flight testing

  • Sensor calibration improvements and automated routines

  • Tuning and optimization of control loops

  • Enhanced failsafe mechanisms and safety features

  • Improved telemetry visualization and ground interface tools

Mid-Term Goals:

  • Integration of additional sensors (e.g., GPS, magnetometer refinement)

  • Advanced state estimation techniques

  • Flight data recording (blackbox logging)

  • Support for additional communication interfaces

Long-Term Goals:

  • Autonomous flight capabilities and navigation stack

  • Multi-vehicle coordination and networking

  • Expansion to multiple hardware platforms

  • Integration with higher-level mission planning systems

Development Direction

The long-term vision of Vayu is to provide a fully indigenous, modular, and high-performance flight control stack that can be adapted across a wide range of applications. Development will continue to focus on maintaining a balance between performance, simplicity, and extensibility, ensuring that the system remains both practical and scalable.