CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications

Authors:

Martin Scheiber, Alessandro Fornasier, Roland Jung, Christoph Böhm, Rohit Dhakate, Christian Stewart, Jan Steinbrener, Stephan Weiss, and Christian Brommer

Publisher:

IEEE Robotics and Automation Letters (RA-L)

Year:

February 2022

This research paper presents the CNS Flight Stack, a high-level flight stack for unmanned aerial vehicles (UAVs) designed to enable safe and fully autonomous long-duration missions. The framework is platform-agnostic, uses low compute complexity, and can be extended with other sensor modalities, integrity checks, and mission modules. The CNS Flight Stack has been tested in over 450 real-world flights, making it a valuable tool for the UAV community, and it is freely available for external mission planners and localization modules.