px4_ctrl_sim

B-Spline Trajectory Tracking with Simulated UAV Dynamics and Modular Controller Framework

This repository simulates trajectory tracking for quadrotor-like aerial vehicles using B-spline path interpolation and a simplified dynamic model inspired by PX4 flight stack architecture. It provides a mock drone simulator, a modular control framework (supporting PID and placeholder MPC), and real-time visualization.

It is ideal for prototyping controller logic, debugging trajectory-following algorithms, or serving as an educational/research scaffold for aerial motion planning.

🔧 System Components

• 🛩️ drone.py: 6-DOF kinematic simulator for a UAV model
• 🎯 trajectory.py: B-spline interpolation and trajectory generator
• 🎮 controller.py: Modular control interface with mock PID and MPC stubs
• 📊 visualization/plot_trajectory.py: 2D/3D trajectory rendering using matplotlib
• 🔁 Designed for future integration with planning and mapping stacks

✨ Features

• Plug-and-play controller interface (PID / initial MPC attempts)
• Configurable drone dynamics and state update loop
• Realistic simulation of tracking deviation and control response
• Visualization of ground truth vs predicted trajectory

🔬 Applications

• Research on trajectory tracking and model-based control for UAVs
• Educational demos of control loop structure for drones
• Benchmarking control response under trajectory perturbations

📦 Folder Structure

px4_ctrl_sim/
├── sim/
│ ├── drone.py
│ ├── trajectory.py
│ └── controller.py
├── scripts/
│ └── run_sim.py
├── visualization/
│ └── plot_trajectory.py
├── tests/
│ └── test_sim.py
├── requirements.txt
└── README.md

🛠️ Installation

pip install -r requirements.txt