Astra

Terrapin Rocket Team's universal flight software library

Astra is a modular flight software library for embedded systems. It provides sensor abstraction, state estimation, logging, and HITL/SITL testing utilities so you can focus on mission logic instead of plumbing.

What You Get

• Multi-sensor support (IMU, baro, GPS, mag, voltage, HITL)
• State estimation (Mahony AHRS + Kalman filter)
• Unified logging (CSV telemetry + event logs)
• Multi-platform support (STM32, Teensy, ESP32, native SITL)

Quick Start (v0.2+)

#include <Arduino.h>
#include <Utils/Astra.h>
#include <State/DefaultState.h>
#include <Sensors/HW/IMU/BMI088.h>
#include <Sensors/HW/Baro/DPS368.h>
#include <Sensors/HW/GPS/MAX_M10S.h>

using namespace astra;

BMI088 imu;
DPS368 baro;
MAX_M10S gps;
DefaultState state;

AstraConfig config = AstraConfig()
    .with6DoFIMU(&imu)
    .withBaro(&baro)
    .withGPS(&gps)
    .withState(&state);

Astra sys(&config);

void setup() {
    Serial.begin(115200);
    sys.init();
}

void loop() {
    sys.update();
}

Platform Setup

This library is designed for PlatformIO. See the docs for example platformio.ini configs and build flags:

• ENV_TEENSY
• ENV_STM
• ENV_ESP
• NATIVE=1 (SITL)

Docs

Start here:

• docs/docs/index.md
• docs/docs/user-guide/installation.md
• docs/docs/user-guide/basic-use.md