sunnypilot is a community fork of comma.ai's openpilot, an open-source driver assistance system (ADAS) designed for real-time operation on dedicated hardware (comma three/4, panda). The codebase implements the full autonomy stack: camera and radar perception, path planning, longitudinal/lateral control, driver monitoring, and localization via Kalman filters. It runs as a set of daemon processes orchestrated by a process manager, communicating through a shared-memory pub/sub messaging layer (msgq) with Cap'n Proto serialization. The system includes a full-featured Raylib-based UI with on-road HUD, settings panels, and an installer, plus cloud connectivity through Athena (remote commands, registration) and the fork-specific Sunnylink (settings backup/restore, telemetry). Beyond the core openpilot functionality, sunnypilot adds numerous extended features: Modular Assistive Driving System (MADS) for configurable steering modes, neural network lateral control (NNLC), map-based speed limit assist using OpenStreetMap data (mapd), intelligent cruise button management, dynamic experimental control, and a model manager that fetches and caches driving model bundles from a remote manifest. The fork maintains its own cereal schema extensions and custom UI layouts for both touch (mici) and big-screen (tizi) hardware variants. The repository includes extensive testing infrastructure: unit tests for most modules, process replay tests that compare outputs against reference logs, longitudinal/lateral maneuver simulations, and CAN bus analysis tools (cabana, replay). It also provides simulation bridges (MetaDrive, joystick) for closed-loop testing. The build system uses SCons for C++ components and uv for Python dependencies, with CI pipelines for model building, release drafting, and route uploads.
Flix is an open-source ESP32-based quadcopter project built from scratch. The repository contains flight controller firmware, a Python control/telemetry library, C++ utilities for log conversion, simulation assets, and extensive documentation. It is primarily an application repo, though it also includes CAD models and data-conversion tools that serve as supporting assets. At runtime, the ESP32 firmware reads IMU data, estimates attitude, and drives motors, communicating via MAVLink and ESP-NOW for telemetry and control. The Python library (tools/pyflix/flix.py) provides an observable API for interacting with the vehicle, and CLI tools convert flight logs from CSV to MCAP and ULog formats for analysis in standard robotics tooling. A Gazebo simulation and a Python test harness validate behavior without hardware. Architecture is a multi-part monorepo: firmware, Python tools, C++ tools, docs, and 3D-printable mechanical parts. External dependencies include the Arduino ESP32 core, MAVLink, ESP-NOW, Gazebo, and custom math classes. The code is generally well-structured, but some data flow relies on global variables and hardware-specific assumptions, limiting reuse outside the ESP32 ecosystem. The project appears actively maintained with CI workflows, but dependency pinning and tight hardware coupling create moderate drift risk.