For the course Embedded Systems Lab we had to develop the firmware for a drone, communicating with a client (a PC with a Joystick) and using the joystick input to control the drones yaw, roll, pitch and height using a PD controller. The sensor data (coming from an IMU) is filtered with a Kalman and a Butterworth filter. This project had to be done in Rust as latency and lag are a big issue with slower on-board drone computers.

The final report is shown below. Alternatively you can download it here and view the code here