Open-source alternatives to Inav

Gobot is a robotics framework for the Go programming language designed for developing robotics, drones, and IoT applications. It provides a hardware abstraction layer with standardized drivers to interact with GPIO, I2C, SPI, and PWM interfaces across various single-board computers and microcontrollers. The framework functions as an IoT device orchestrator and BLE device manager, enabling the coordination of multiple sensors, actuators, and Bluetooth Low Energy peripherals. It includes specialized interfaces for drone control, allowing for the management of flight maneuvers and video streams

OpenCat-Quadruped-Robot is a development framework and motion control API for building four-legged robots. It provides a comprehensive environment for quadruped robot development, featuring tools for locomotion gait design, inverse kinematics, and a layered control architecture that separates high-level intelligence from low-level motion. The project distinguishes itself as an embedded AI deployment tool, allowing users to train, quantize, and deploy machine learning models to vision modules for tasks such as object detection and visual target tracking. It further supports complex human-robot

This project is an implementation of the Arduino framework for ESP32 microcontrollers, providing a core that enables firmware development using a familiar API. It functions as a microcontroller hardware abstraction layer and a firmware toolchain integration, bridging external development environments to the hardware for compilation and flashing. The system includes an embedded real-time operating system wrapper to manage multi-core execution and task scheduling, alongside a wireless communication suite for TCP/IP networking and Bluetooth Low Energy. It distinguishes itself by providing an obj

Prometheus is an autonomous drone flight stack providing a software suite for navigation, target recognition, and flight control. It functions as a computer vision navigation engine and a precision autonomous landing controller, enabling unmanned aerial vehicles to operate without manual pilot input. The system distinguishes itself through multi-vehicle coordination and swarm synchronization, allowing aerial and ground vehicles to maintain formations and execute joint maneuvers via a shared communication framework. It further integrates a simulation environment for software-in-the-loop testin

ArduPilot is an autonomous vehicle autopilot software platform designed to manage navigation, stabilization, and mission execution for aerial, ground, and marine vehicles. It functions as a comprehensive flight controller that utilizes a real-time operating system kernel to manage concurrent control loops, sensor fusion, and state-based logic for diverse operational modes. The system distinguishes itself through a modular hardware abstraction layer that decouples navigation logic from specific sensor drivers and microcontroller architectures. It employs a message-oriented telemetry protocol t

This project is flight control autopilot software designed as a real-time operating system for managing the flight dynamics and navigation of autonomous multicopters, fixed-wing aircraft, and rovers. It serves as a multi-vehicle autopilot framework that supports various aircraft configurations, including vertical takeoff and landing platforms across industrial environments. The system includes a MAVLink communication stack for exchanging telemetry and command data between unmanned vehicles and ground control stations. It also provides a software-in-the-loop flight simulator to test autopilot

This project provides educational resources and technical guides for microcontroller firmware development. It focuses on writing low-level C code that runs directly on hardware without an underlying operating system, covering the fundamentals of hardware registers, memory mapping, and system clocks. The guides detail the creation of hardware abstraction layers to wrap raw memory-mapped registers into structured interfaces and provide walkthroughs for integrating TCP/IP stacks and HTTP servers into bare-metal environments. It also outlines the implementation of embedded systems build pipelines

Cylon is a JavaScript robotics framework and hardware abstraction layer designed for controlling robots, drones, and IoT devices. It functions as an IoT device orchestrator that translates high-level JavaScript commands into hardware signals and manages multiple sensors and components concurrently. The system utilizes a modular architecture of drivers and adaptors to normalize diverse hardware signals into a unified programming interface. It enables the deployment of hardware control logic across various environments, including web browsers and mobile applications, through cross-platform bund

Navigation2 is a navigation stack for ROS 2 designed for autonomous robot navigation. It provides a framework for computing optimal paths from a starting position to a goal while avoiding static and dynamic obstacles. The system utilizes a behavior tree orchestrator to coordinate complex navigation tasks and trigger recovery actions. Its architecture is plugin-based, allowing planners, controllers, and costmap layers to be swapped at runtime without recompiling the core system. The project covers path planning, motion control, and environmental mapping. It generates occupancy grids and costm

Blinker is an IoT cloud connectivity library designed to link embedded hardware to cloud services. It functions as a communication layer that connects physical devices to mobile applications for remote triggering, state monitoring, and remote data transmission. The library provides a development framework for ESP32 microcontrollers and a set of tools for interfacing Arduino R4 hardware with cloud backends. It enables the establishment of secure links between embedded devices and cloud services to store and transmit data remotely. The project includes capabilities for remote hardware manageme

Arduino is a physical computing platform and an open hardware standard used to build interactive electronic objects and standalone devices. It provides a C++ microcontroller IDE and an embedded systems framework for writing, compiling, and uploading code to microcontroller boards. The ecosystem facilitates embedded systems programming and interactive hardware prototyping, allowing for the creation of devices that respond to environmental changes or user input. It enables the development of physical computing projects by managing the connection and flashing of code to various hardware boards.

FAST-LIVO2 is a LiDAR-inertial odometry framework and factor-graph SLAM implementation designed for real-time robot localization and 3D mapping. It functions as a multi-sensor fusion pipeline and state estimator that integrates LiDAR, inertial, and camera inputs to track a robot's position and orientation. The system employs a tightly-coupled sensor fusion approach to maintain stable navigation, particularly in degraded environments. It utilizes a voxel-based 3D mapping tool to organize point clouds into volumetric grids, which optimizes memory usage and search speed during spatial reconstruc

The HomeKit Accessory Development Kit (ADK) is an open-source framework from Apple for building smart home accessories that pair and communicate with the Home app and the broader Apple Home ecosystem. At its core, the ADK implements the HomeKit Accessory Protocol (HAP), providing the cryptographic pairing and secure session establishment—using SRP and Curve25519 key exchange—required for trusted accessory-controller links. Accessories are modeled through an event-driven architecture that manages state and characteristics, with configuration stored in a structured JSON format for runtime queryi

VINS-Fusion is a multi-sensor fusion framework and visual-inertial odometry system. It integrates camera images, inertial measurement unit data, and global positioning signals through a non-linear optimization system to track the position and orientation of autonomous vehicles. The system includes a visual loop closure engine that utilizes a bag-of-words approach to recognize previously visited locations and correct trajectory drift. It further provides tools for online spatio-temporal calibration to determine the physical offset and time synchronization between cameras and inertial sensors d

This repository provides the original source code and binaries for legacy disk operating systems. It serves as a historical software archive and a reference implementation for early personal computer operating systems. The project is designed for software archaeology, legacy operating system research, and the study of foundational kernel design. It allows for the technical analysis of historical software architecture and implementation. The codebase covers several core system areas, including monolithic kernel design, segmented memory addressing, and file allocation table indexing. It also i

OM1 is a multimodal AI agent runtime and orchestration framework designed to connect large language models to physical robot hardware and sensors. It provides an execution environment that processes audio, video, and sensor data to drive autonomous decisions and actions in real-world settings. The system integrates a robotics SLAM and navigation stack with a hardware abstraction layer, allowing high-level AI commands to be translated into low-level motor and actuator instructions. It distinguishes itself by incorporating blockchain-based governance to enforce immutable operational rules and p

i2cdevlib is a collection of peripheral drivers and hardware abstraction layers designed for I2C devices. It provides a sensor driver collection, a register map database, and a peripheral manager to coordinate communication between microcontrollers and hardware components. The project utilizes a hardware abstraction layer to decouple device logic from specific microcontroller hardware and wire libraries. This transport-layer abstraction allows the same device drivers to remain portable across different hardware architectures. The library covers a broad range of hardware integration, includin

rawdrawandroid is a framework for building Android applications using C and Make. It provides a native development system that compiles source code into standalone executable packages, bypassing the standard Java or Kotlin toolchains and virtual machines. The project features a native UI toolkit for creating hardware-accelerated graphics windows and a dedicated hardware interface for direct communication with USB peripherals and onboard sensors. It utilizes a containerized build environment to ensure consistent compilation and signing of binaries without requiring local toolchain installation

QGroundControl is a desktop ground control station application that communicates with drones using the MAVLink protocol. It serves as a central interface for controlling both manual and autonomous flight operations, monitoring real-time telemetry, and managing vehicle configurations for compatible UAV platforms. The application provides a comprehensive mission planning environment with an interactive map-based editor for designing autonomous flight paths and waypoint sequences. It includes tools for flight controller configuration and sensor calibration, supporting both PX4 and ArduPilot plat

OpenMower is an autonomous lawn mower controller and firmware system that uses high-precision RTK GPS to navigate robotic mowers without the need for physical boundary wires. It functions as a GPS-based path planner and hardware management system that converts manual machines into autonomous units. The project includes a remote management application for monitoring and controlling mowers via a web or mobile interface. It integrates an obstacle avoidance system and safety layers that execute emergency stops when the device is lifted or crashes. The system manages robotic hardware through firm

Mbed OS is a real-time operating system designed for connected internet-of-things devices and microcontroller hardware. It provides a fundamental framework that combines a real-time operating system with an embedded security framework, a hardware abstraction layer for controlling sensors and peripherals, and a device management platform for cloud-based orchestration. The system establishes security foundations to protect connected products from unauthorized access and vulnerabilities. It further enables remote monitoring and hardware orchestration by connecting embedded devices to cloud servi

Openwash-hardware is an open-source project providing technical schematics, structural specifications, and assembly instructions for constructing a functional, automated washing machine. It serves as a comprehensive repository of mechanical engineering documentation designed to facilitate the creation of household laundry appliances from scratch. The project emphasizes a modular approach to hardware design, utilizing standardized mechanical interfaces and common fasteners to ensure that components are interchangeable and accessible. By organizing the physical assembly into independent modules

jetson-inference is a set of libraries and tools for executing optimized deep learning models on embedded GPU hardware. Its primary purpose is to enable real-time computer vision and AI inference at the edge with low latency and high throughput. The project distinguishes itself through high-performance streaming analytics and the ability to execute concurrent AI pipelines on auto-grade silicon. It provides specialized support for multi-sensor stream processing, utilizing zero-copy data transport to load camera frames directly into GPU memory. The codebase covers a broad surface of capabiliti

This project is a software-defined radio signal decoder and protocol analyzer designed to translate raw radio transmissions from ISM bands into human-readable data. It functions as a tool for capturing radio samples, analyzing pulse timings, and decoding signals from wireless devices. The system acts as a data bridge, converting decoded radio signals into JSON format for publication to MQTT brokers or exposure via Prometheus-compatible endpoints. It also serves as a signal capture tool capable of recording raw radio samples and demodulated pulses to files for offline analysis and simulated pl

Cartographer is a cross-platform robotics library and framework for simultaneous localization and mapping in 2D and 3D spaces. It functions as a real-time mapping engine that constructs environmental maps while tracking a device's position and orientation using continuous sensor data processing. The system implements real-time SLAM to generate precise maps for autonomous navigation. It utilizes a localization system that determines a device's state within a mapped environment across different hardware platforms and sensor configurations. The framework covers spatial estimation through non-li

This project is an embedded C++ development kit and hardware abstraction layer that enables the Arduino programming environment to target ESP8266 WiFi microcontrollers. It provides a comprehensive framework for compiling and flashing code to microcontroller memory via serial or wireless interfaces. The system includes a specialized WiFi microcontroller framework for managing TCP/IP stacks and internet connectivity. It features a dedicated over-the-air firmware update system that allows software updates to be delivered to remote hardware without a physical cable connection. The kit covers emb

TFT_eSPI is an Arduino TFT display library and anti-aliased graphics engine used to drive displays via SPI or parallel interfaces on ESP32, ESP8266, STM32, and RP2040 microcontrollers. It provides a DMA-accelerated display driver to increase frame rates and a sprite-based frame buffer to prevent visual flickering. The library features an integrated touch screen interface for processing input from SPI-based controllers. It distinguishes itself with a rendering system capable of drawing anti-aliased shapes and high-quality Unicode fonts to eliminate jagged edges. The project covers a broad ran