Veloxity

Veloxity is a Rust firmware implementation for the ROSflight ecosystem. The current branch focuses on making the Rust firmware interchangeable with the upstream ROSflight C firmware in the ROSflight multirotor simulator, while keeping embedded firmware paths for RP2350/Pico 2 W, Nucleo-H753ZI, and Pixracer Pro/STM32H7.

The repository is intentionally one Rust workspace. The core flight code, MAVLink adapter, simulator FFI library, board crates, and platform crates share contracts and must stay in sync.

Start Here

Read these in order if you are new to the repository:

1. Documentation index
2. Repository map
3. Build and tool commands
4. Core architecture
5. ROSflight simulator setup
6. Board bring-up guide

Current Support Status

Area	Status
ROSflight multirotor simulator with Rust firmware	Actively tested in this branch
ROScopter waypoint/autonomy stack on top of Veloxity SIL	Actively tested in this branch
RP2350/Pico 2 W hardware path	Active hardware bring-up path; high-rate ISM330DHCX intake, fixed 1.5 kHz control timing measurements, and ongoing IMU delay investigation
ESP32C5 ESP-NOW UART bridge	Tested as an isolated UART-over-air link
Nucleo-H753ZI	Retained and compile-current; needs renewed sensor bring-up
Pixracer Pro / STM32H7	Active STM32 hardware validation path; clean 400 Hz control timing and high-rate MAVLink telemetry validated on Pixracer Pro
ROSplane simulator/autonomy	Not documented as supported on this branch because it has not been retested

Quick Build

Run from the repository root:

cargo xtask check-host
cargo xtask test-host
cargo xtask check-board pico2w
cargo xtask check-board nucleo
cargo xtask check-board pixracerpro

The current RP2350/Pico 2 W hardware path uses the ISM330DHCX data-ready interrupt for high-rate IMU intake and runs the full estimator/controller/mixer/PWM pipeline at a fixed 1.5 kHz. The hot path is IMU-only and reuses the latest command/sensor state; RC, barometer, magnetometer, telemetry, parameters, and transport work run in bounded service phases. Recent IMU delay work should focus on the board-local SPI register path in the Pico firmware entrypoint. See RP2350 / Pico 2 W for timing notes, current caveats, and flash commands.

The current Pixracer Pro / STM32H7 path runs a fixed 400 Hz control loop with board-specific continuous service polling. Hardware tests at 921600 baud show 399.5 Hz host / 399.4 Hz board-timestamp IMU telemetry, expected stream rates for attitude, RC, TIMESYNC, barometer, output, status, heartbeat, and parameters, zero CRC errors or MAVLink sequence gaps, and sub-100 us producer-to-consumer IMU handoff latency in scope captures. See STM32 boards for the Pixracer Pro timing decisions and diagnostics.

For ROSflight simulation, source ROS 2 and the ROSflight workspace first, then build the shim:

source scripts/build_and_source_ros2_shim.zsh
ros2 launch veloxity_sil_board_shim multirotor_standalone_sil.launch.py use_rviz:=true

The script builds:

• target/debug/libsim.a
• workspace/install/veloxity_sil_board_shim

Generated local artifacts can be removed with:

cargo xtask clean-generated

Repository Rules

• Do not modify rosflight_io to make Veloxity work. Veloxity adapts to the existing ROSflight ROS 2 stack.
• Veloxity scripts assume ROS 2 and the ROSflight workspace are already sourced by the caller.
• Keep generated artifacts out of Git: target/, workspace/, ESP-IDF build directories, and runtime parameter stores are disposable.
• Prefer adding documentation under docs/ and linking it from docs/README.md instead of growing this README without structure.

License

See the LICENSE file for license rights and limitations (BSD 3).

Upstream Context

Veloxity is built to interoperate with ROSflight. See the ROSflight docs for system-level ROSflight concepts and message/service behavior.