Open Source Projects & Flight Stacks

DroneCAN support for Arduino on STM32!

ArduPlane, ArduCopter, ArduRover, ArduSub source

Open Source Flight Controller Firmware

[ECCV 2022] ByteTrack: Multi-Object Tracking by Associating Every Detection Box

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Clean-code version of the baseflight flight controller firmware

ROS-based framework and RPi image to control PX4-powered drones 🍀

The main firmware for the Crazyflie Nano Quadcopter, Crazyflie Bolt Quadcopter and Roadrunner Positioning Tag.

Python library to communicate with the Crazyflie™

DroneKit-Python library for communicating with Drones via MAVLink.

The dRonin flight controller software.

EGO-Planner is a local trajectory planner that does not require a prebuilt global map, designed for onboard UAV replanning in cluttered environments.

An efficient single/multi-agent trajectory planner for multicopters.

EmuFlight is flight controller software (firmware) used to fly multi-rotor craft.

Flight controller software for hobbyist - build your own flight controller.

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

Fast-Planner is a B-spline-based trajectory planning framework for aggressive UAV flight, covering path search, optimization and time allocation for fast autonomous missions.

3D Gaussian Splatting is the official reference implementation for real-time radiance-field rendering, a growing research direction for aerial 3D reconstruction.

INAV: Navigation-enabled flight control software

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

A compact implementation of the Cyphal/CAN protocol in C for high-integrity real-time embedded systems

RealSense SDK

This is the GitHub mirror for the LibrePilot source code. The main development is taking place at https://bitbucket.org/librepilot

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

Modular framework for online informative path planning.

Marshalling / communication library for drones.

API and library for MAVLink compatible systems written in C++ 20

Open-source MAVLink fleet operations for PX4: SITL, drone shows, search and rescue, cooperative autonomy, and field validation

MAVSDK client for Python.

Mission Planner is ArduPilot's Windows ground control station, used for firmware loading, mission planning, log analysis and live telemetry in ArduPilot workflows.

MRS UAV Core is CTU MRS's ROS metapackage for UAV control, state estimation, trajectory generation and tracking, bundling PX4 integration and simulation tooling.

ONNX Runtime is a cross-platform inference engine that lets UAV developers deploy ONNX models across CPU, GPU and NPU backends with one format.

An open source platform for visual-inertial navigation research.

OpenVINO is Intel's open inference toolkit for optimizing and deploying AI on Intel CPUs, GPUs and VPUs, relevant for vision workloads on x86 edge computers.

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

ORB-SLAM3 is the reference open-source visual and visual-inertial SLAM library supporting monocular, stereo, RGB-D and IMU inputs with multi-map operation for UAV state estimation.

Paparazzi is a free and open-source hardware and software project for unmanned (air) vehicles. This is the main software repository.

PX4 Autopilot Software

Python implementation of the Cyphal protocol stack.

Python module & scripts for ULog files

Cross-platform ground control station for drones (Android, iOS, Mac OS, Linux, Windows)

Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

Fixed-wing autopilot for ROSflight

MAVLink implementation written in Rust

Python-based Quadcopter Flight Controller Software using a Raspberry Pi Pico, MPU-6050, and a FlySky radio transmitter & receiver

TensorRT is NVIDIA's inference SDK for high-performance deep learning on GPUs and Jetson devices, the primary runtime family for UAV edge AI deployments.

Modular Autopilot for Unmanned Aerial Vehicles

An optimization-based multi-sensor state estimator

VINS-Mono is a monocular visual-inertial state estimator from HKUST Aerial Robotics, commonly used as a UAV localization baseline on ROS.

Official code for VoLN: Vision-Only Long-Horizon Navigation—Paradigm, Benchmark, and Method. An embodied AI UAV benchmark and VoLN-MLLM agent bridging VLN and multimodal LLMs across 7,210 episodes, AirSim, and real-world flights.