This library provides a modular framework for implementing various control strategies for drones, including:

• PID Control
• Model Predictive Control (MPC)
• Linear Quadratic Regulator (LQR)
• Robust Control (H-Infinity)

• Modular design for easy extension.
• Simulation-ready components.
• Integration with custom drone models.

• include/: Header files.
• src/: Source files for control algorithms and utilities.
• tests/: Unit tests for each module.
• examples/: Example applications demonstrating library usage.
• doc/: Design notes and module primers (e.g. mixers).

1. Clone the repository and pull submodules:

   git clone https://github.com/antshiv/controlSystems.git
   cd control_systems
   git submodule update --init --recursive

2. Build the library:

   mkdir build && cd build
   cmake ..
   make

3. Build and run the attitude-hold example:

   cmake --build build --target attitude_hold_example
   ./attitude_hold_example

4. (Optional) Run tests:

   ctest --output-on-failure

• C
• CMake 3.10+
• Optional: GNU Scientific Library (GSL) for advanced numerical computations.

This project expects external components to be checked out under external/ as git submodules. For example:

controlSystems/
├── external/
│   └── attitudeMathLibrary/   # git submodule add https://github.com/antshiv/attitudeMathLibrary.git

The control build pulls headers/sources from external/attitudeMathLibrary. After cloning, always run:

git submodule update --init --recursive

The same pattern should be followed when integrating the state estimation or dynamics libraries—add them under external/ and propagate include/link directives in CMake.

Feel free to contribute by creating a pull request or opening an issue.