PennAiR Monorepo PennAiR Monorepo PennAiR Monorepo
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GETTING STARTED

  • Installation
    • Ubuntu
    • macOS
  • Tutorials
    • Making Your First Contribution
    • Creating Your First Mode
    • Creating A Mission
  • Concepts
    • Modes
    • Missions
    • Mode Manager

SAE 2025 WORKSPACE

  • Python API Reference
    • uav
      • uav.CameraNode
      • uav.UAVModeManager
      • uav.modes
        • uav.modes.LandingMode
        • uav.modes.NavGPSMode
        • uav.modes.PayloadDropoffMode
        • uav.modes.PayloadPickupMode
        • uav.modes.ServoDropoffMode
        • uav.modes.TakeoffMode
        • uav.modes.TransitionMode
        • uav.modes.VerticalTakeoffMode
        • uav.modes.WaypointMission
        • uav.modes.fly_to_point_mode
        • uav.modes.vtol
      • uav.servo
      • uav.uav_mission
      • uav.utils
      • uav.vehicles
        • uav.vehicles.AirframeClass
        • uav.vehicles.Multicopter
        • uav.vehicles.UAV
        • uav.vehicles.VTOL
        • uav.vehicles.px4_modes
      • uav.vision_nodes
        • uav.vision_nodes.PayloadAprilTagNode
        • uav.vision_nodes.PayloadColorOrbitNode
        • uav.vision_nodes.PayloadColorSquareNode
        • uav.vision_nodes.PayloadDriveOutNode
        • uav.vision_nodes.PayloadTrackingNode
        • uav.vision_nodes.payload_perception_common
      • uav.vision_pipeline
    • sim
      • sim.constants
      • sim.orchestration
      • sim.scoring
        • sim.scoring.HoopScore
        • sim.scoring.ScoringNode
        • sim.scoring.namespacing
      • sim.simulation_params
      • sim.utils
      • sim.world_gen
        • sim.world_gen.custom_world_node
        • sim.world_gen.entity
        • sim.world_gen.hoop_course_node
        • sim.world_gen.sae_world_node
        • sim.world_gen.world_node
    • payload
      • payload.PayloadModeManager
      • payload.modes
        • payload.modes.PayloadAprilTagApproachMode
        • payload.modes.PayloadColorStringApproachMode
        • payload.modes.PayloadCornerNavigateMode
        • payload.modes.PayloadDLZNavigateMode
        • payload.modes.PayloadDualApproachMode
        • payload.modes.PayloadRetreatMode
        • payload.modes.PayloadScanForTagMode
        • payload.modes.PayloadWaitForDriveOutMode
      • payload.payload
      • payload.payload_mission
    • vehicle_common
      • vehicle_common.base
        • vehicle_common.base.vision_node
      • vehicle_common.cv
        • vehicle_common.cv.calibrate
        • vehicle_common.cv.confidence
        • vehicle_common.cv.dlz_color_regions
        • vehicle_common.cv.dlz_convex_hull
        • vehicle_common.cv.recalibrate
        • vehicle_common.cv.threshold
        • vehicle_common.cv.track
        • vehicle_common.cv.tracking
      • vehicle_common.env
      • vehicle_common.launch_utils
        • vehicle_common.launch_utils.launch_utils
      • vehicle_common.mode
      • vehicle_common.mode_loader
      • vehicle_common.mode_manager
      • vehicle_common.px4
      • vehicle_common.runtime
        • vehicle_common.runtime.comm_naming
        • vehicle_common.runtime.comm_policy
        • vehicle_common.runtime.fleet_spec
        • vehicle_common.runtime.managed_comms
        • vehicle_common.runtime.managed_entities
        • vehicle_common.runtime.managed_registry
        • vehicle_common.runtime.mission_loader
        • vehicle_common.runtime.peer_connections
        • vehicle_common.runtime.vision_loader
      • vehicle_common.utils
      • vehicle_common.vehicle

PAYLOAD CONTROLLER

  • C++ API Reference
    • Drivers
      • IMU Interface
        • IMU SITL
    • PC XRCE DDS Client

CONTRIBUTING

  • Development Guide
  • Contributing to Docs
  1. PennAiR Monorepo /
  2. Payload Controller C++ API Reference

Payload Controller C++ API Reference#

  • Drivers
    • IMU Interface
      • IMU SITL
  • PC XRCE DDS Client
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