racing-drone
The records of branes-ai/racing-drone.
Decisions
Section titled “Decisions”| Decision | Status | Date |
|---|---|---|
| ADR 0001: racing drones are baselines composed into fixed slots | Proposed | 2026-10-23 |
| ADR 0002: MPC on the companion, INDI + rate loop on the flight controller | Proposed | 2026-10-23 |
| ADR 0003: MPCC is the primary racing controller; learned policies are a comparison baseline | Proposed | 2026-10-23 |
| ADR 0004: hybrid estimation with VIO, gate PnP, and a drag-aware model | Proposed | 2026-10-23 |
| ADR 0005: layered detect-and-avoid: MPC constraints plus an independent CBF safety filter | Proposed | 2026-10-23 |
| ADR 0006: the hot path runs in one process; Zenoh carries everything else | Proposed | 2026-10-23 |
| ADR 0007: outdoor obstacle avoidance lives in the platform and its own mission repo, not in racing-drone | Proposed | 2026-10-28 |
| ADR 0008: the mission framework moves to anatomy, generic over the mission’s task | Proposed | 2026-10-28 |
| ADR 0009: third-party license compatibility | Accepted (amended 2026-11-01: published facts) | 2026-10-31 |
| ADR 0010: no GPL code; clean-room implementation from papers | Accepted | 2026-10-31 |
In progress
Section titled “In progress”| Plan | Issue | Updated |
|---|---|---|
| Racing drone implementation plan | 2026-10-29 | |
| Racing drone test plan | 2026-10-29 |