Seascape -- Simple Educational Autopilot System with C++ Architecture & Python Exterior

SEASCAPE is a user-friendly autopilot code base for research and education that utilizes development and sensor boards such as Raspberry-pi and emlid Navio2. SEASCAPE leverages Internet of Things (IoTs) and open-source drivers and adds an application layer and development environment to provide an autopilot prototyping and development. The code structure is developed to handle multiple-IMU sensor integration for researchers, students, and hobbyist equally. The code allows multi-stage individual algorithm integration and provides a straightforward options to toggle between user and reference guidance, navigation, and control modules to compare and validate individual autopilot development components, allowing the user to focus on their specialization. Core functions and scripts are implemented in a multi-threaded C++ process to optimize speed performance, and additional Python processes are provided for a implementing custom estimator and controller with ease. The multi-threaded structure adds modularity to the system, allowing users to adjust the configuration via JavaScript Object Notation (JSON) properties. SEASCAPE has been continuously used in university coursework to teach and develop autopilot systems and for research purposes.