MAVRIC V.1 full assembly CAD with GPS housing, case marking and arrow
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FULL ASSEMBLY CAD · DRAG OR USE ARROW KEYS TO ROTATE

FLIGHT COMPUTER / DEVELOPMENT PLATFORM

From onboard sensors
to usable flight data.

An evolving embedded and ROS 2 based system for sensing, telemetry, and aircraft state development.

See the data pathView development status

THE COMPLETE ASSEMBLY / SOURCE CAD

MAVRIC V.1
as designed.

GPS housing, enclosure markings, and orientation shown in Tryan's supplied CAD view.

Tryan MAVRIC V.1 flight-computer enclosure CAD, with GPS label, MAVRIC V.1 marking and orientation arrow
Original CAD view supplied by Tryan Aerodynamics · Select image to inspect at full size.

SYSTEM / 01

An architecture built
to make testing visible.

The controller gathers sensor observations and publishes structured serial data. A companion computer receives the stream and publishes ROS 2 topics for inspection. This is a bench-stage foundation; aircraft state estimation and closed-loop flight control still require development and testing.

Full assembly CAD · development model

ARCHITECTURE / 02

A readable path
through the system.

01 / INPUTSensors + GPSMotion, pressure, heading, position
02 / CONTROLLERTeensy 4.1Acquisition and calibration
03 / LINKSerial telemetryStructured development stream
04 / COMPANIONRaspberry Pi 3BROS 2 topics and inspection

Monitoring and logging are development uses. Navigation, autonomy, and flight-level fault responses are future work.

HARDWARE + SOFTWARE / 03

Real modules.
Connected carefully.

EMBEDDED CONTROLLER

Teensy 4.1

Current sensor acquisition and serial telemetry development.

COMPANION COMPUTER

Raspberry Pi 3 Model B

ROS 2 ingestion, topic publishing, and diagnostic inspection.

SENSING INPUTS

Motion, pressure, heading, position

MPU6050, BMP280, QMC5883L, and Foxeer M10Q-250 GPS used in development.

WHAT WE HAVE OBSERVED

Sensor bring-up and calibration, structured serial data, and ROS 2 topic publishing at bench stage. Indoor GPS observations are not evidence of an outdoor position fix or aircraft navigation performance.

DEVELOPMENT / 04

What works now.
What comes next.

01

Sensor detection and wiring

Development sensor input connected to the embedded controller.

DEMONSTRATED
02

Calibration and formatting

Calibration workflow and structured serial data observed.

DEMONSTRATED
03

Controller to companion link

Serial stream to the Raspberry Pi development setup.

DEMONSTRATED
04

ROS 2 publishing

Sensor topics published for inspection on the companion computer.

DEMONSTRATED
05

Data quality and fault handling

Repeatability and fault responses need deeper testing.

IN PROGRESS
06

Aircraft integration and control

Real-time flight control, navigation, and in-air behaviour require validation.

PLANNED

WHY IT MATTERS / 05

Know the system
before trusting it.

Direct access to sensor data and control of the integration pathway make it easier to inspect errors, compare observations, and adapt the platform for future aircraft concepts. Bench results are a starting point for integration, not proof of flight readiness.

NEXT STEP / TRYAN

Connect computation to the airframe.

Explore SHENYA and the larger VTOL development brief, with status and targets kept distinct.

Explore UAV design