A ground prototype for collecting guidance and navigation data, logging it, and driving a servo. The Teensy collects sensor readings and sends them over SPI to the telemetry and attitude-control boards. The goal is to iterate on the hardware and firmware before developing the final system.

Components and development environments

Component	Hardware and purpose	Development environment
GNS — Guidance and Navigation System	Teensy 4.0; reads an MPU-6500 IMU, NEO-6M GPS, and DHT11 temperature/humidity sensor. Sends telemetry and a gyro-derived servo target over SPI.	C++ with the Teensyduino core and Arduino CLI; USB bootloader and USB serial. MCUXpresso is planned for the final firmware, not used by this prototype.
TDS — Telemetry and DAQ System	Waveshare ESP32-P4-Pico; receives sensor data over SPI and logs it to a FAT32 microSD card.	C with ESP-IDF 6.1 and `idf.py`; USB flashing and serial monitor.
ACS — Attitude Control System	STM32F411 Black Pill; receives the GNS servo target over SPI and drives an SG90 servo.	C with STM32Cube HAL, CMake, Ninja, and an ARM GCC toolchain; ST-Link and OpenOCD for flashing and diagnostics.

These are experimental prototypes, not flight-ready firmware. See each component's README for setup, wiring, and current limitations. Run ./monitor-boards.sh for a tmux view of the board outputs; the STM32 pane uses ST-Link diagnostics rather than a serial console.

Project code is available under the MIT License. The STM32 vendor files retain their own license notices.