Process Diagram

Process Descriptions:

• flyMS Webserver - Serves HTML web app on port 5000. Edits the flight configuration file with user’s input, and forwards it to the flyMS flight program when requested. It also sends/receives custom commands from external hardware

• Mission Interface - Interface between the mission computer and the flight controller. Messages are passed via UART, and serialized as mavlink messages

• flyMS - Main flight controller, executes the inner/outer control loops for the drone. It gets configuration parameters from the flyMS webserver, permission to use the PRU from the PruManager, and optionally pose estimates from the mission interface