C++ · MIT
formiat/px4-ros2-drone-nav
Autonomous UAV navigation in GNSS-denied indoor spaces with no prior map: stereo VIO (MSCKF) and lidar-inertial odometry with map-based relocalization (SLAM), 3D occupancy mapping, D* Lite path planning and GPU MPPI obstacle avoidance. PX4 + ROS 2 + Gazebo SITL, DARPA SubT Urban.
★ 167
Stars
33 forks · 0 open issues
+5.0/wk
Growth · measured
Stars counted between two of our own snapshots roughly a week apart. The repository page gives the exact span.
26.9
Momentum / 100
see the breakdown below
4mo ago
Created
last push 8d ago
Star history
How this score was built
| Component | Weight | Earned | Why |
|---|---|---|---|
| Velocity | 55 | 4.5 | +5.0/wk, log-scaled against a 750/day ceiling |
| Acceleration | 15 | 1.4 | last week ran 1.09× the monthly pace |
| Freshness | 15 | 14.6 | last push 8d ago; decays to zero at 180 days |
| Scale | 15 | 6.5 | 167 stars, log-scaled against 150k — stops a 3-star repo topping the board |
| Momentum | 100 | 26.9 | sum of the above |
Detail
| Topics | autonomous-navigationd-star-litedarpa-subtdronegazebognss-deniedgps-deniedlidar-inertial-odometrymodel-predictive-controlmppimsckfobstacle-avoidancepath-planningpx4quadrotorroboticsros2slamuavvisual-inertial-odometry |
| Matched on | Robotics (slam) ROS2 (ros2) |
| Short window | +5 stars over 7 days = 0.7/day |
| Long window | +17 stars over 26 days = 0.7/day |
| Lifetime average | 1.36 stars/day over 123 days |
| First seen here | 2026-10-11 |
| Last read | 2d ago |