TVR - UBC Rocket

Mono-repo for the TVR project, containing firmware, ground station, shared libraries, and tools.

Repository Structure

Directory	Description
embedded-software/firmware/ulysses-flight-controller/	STM32H563 flight controller firmware (FreeRTOS, CMake)
embedded-software/firmware/ulysses-gnss-radio/	STM32G0xx GNSS/radio module firmware
embedded-software/firmware/libs/	Shared firmware libraries (EKF, controls, sensors, GPS)
embedded-software/firmware/docs/	Firmware documentation
embedded-software/firmware/tools/	SD log decoding and serial debug tools
embedded-software/ground-station/	Qt6/QML ground control station
embedded-software/libs/rocket-protocol/	Shared protobuf protocol library (nanopb, COBS, CRC)
embedded-software/jetson/	Future Jetson compute module (placeholder)
controls/	MATLAB/Simulink control system prototyping
electrical-hardware/	Electrical hardware design files
mechanical-hardware/	Mechanical hardware design files

Getting Started

For firmware development, open the board folder directly in VS Code:

• embedded-software/firmware/ulysses-flight-controller/
• embedded-software/firmware/ulysses-gnss-radio/

Each folder is self-contained with CMake presets, debug launch configs, and recommended extensions. See embedded-software/firmware/docs/development_setup.md for full setup instructions.

Teams & Code Ownership

Each directory is owned by a subteam — see CONTRIBUTING.md for the branching model, team leads, and PR review requirements.

Prerequisites

• ARM GCC toolchain (arm-none-eabi-gcc) for firmware
• STM32CubeIDE (for ST's OpenOCD — see development setup)
• CMake 3.22+ and Ninja
• Qt 6.6+ for ground station
• Python 3.10+ with uv for tools

Environment Variables

Debugging requires two environment variables set in your shell profile (~/.bashrc, ~/.zshrc, or ~/.config/fish/config.fish). Both paths come from your STM32CubeIDE installation — the plugin version in the path varies by release.

Variable	Purpose
STM32_OPENOCD_PATH	Path to the OpenOCD binary bundled with STM32CubeIDE
STM32_OPENOCD_SCRIPTS_PATH	Path to the OpenOCD st_scripts directory

macOS

export STM32_OPENOCD_PATH="/Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.ide.mcu.externaltools.openocd.macos64_<version>/tools/bin/openocd"
export STM32_OPENOCD_SCRIPTS_PATH="/Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.ide.mcu.debug.openocd_<version>/resources/openocd/st_scripts"

Windows

export STM32_OPENOCD_PATH="D:/ST/STM32CubeIDE_<version>/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.openocd.win32_<version>/tools/bin/openocd.exe"
export STM32_OPENOCD_SCRIPTS_PATH="D:/ST/STM32CubeIDE_<version>/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.debug.openocd_<version>/resources/openocd/st_scripts"

Linux

export STM32_OPENOCD_PATH="/opt/st/stm32cubeide_<version>/plugins/com.st.stm32cube.ide.mcu.externaltools.openocd.linux64_<version>/tools/bin/openocd"
export STM32_OPENOCD_SCRIPTS_PATH="/opt/st/stm32cubeide_<version>/plugins/com.st.stm32cube.ide.mcu.debug.openocd_<version>/resources/openocd/st_scripts"

Important

Restart VS Code (and your shell) after setting these variables.

Building Firmware

cd embedded-software/firmware/ulysses-flight-controller
cmake --preset debug
cmake --build --preset debug

Running Tests

# State estimation tests
cd embedded-software/firmware/libs/state_estimation/tests
cmake -B build && cmake --build build
ctest --test-dir build

# Controls tests
cd embedded-software/firmware/libs/controls/tests
cmake -B build && cmake --build build
ctest --test-dir build

Building Ground Station

cd embedded-software/ground-station
cmake -B build
cmake --build build

Releases

Tags follow the format <component>/v<semver>:

• firmware-fc/v1.0.0 — Flight controller firmware
• firmware-gnss/v1.0.0 — GNSS radio firmware
• ground-station/v1.0.0 — Ground control station
• tvr/v1.0.0 — Coordinated release of all components

Contributors