Architecture¶

AURORA runs on multiple interconnected PCBs that communicate over CAN bus. The primary application is sensor_board, which manages the IMU, barometric sensor, flight state machine, and pyrotechnic ignition.

Threads¶

sensor_board uses three Zephyr threads (all priority 5, 2 KB stack):

Thread	Guard	Purpose
`imu_task`	`CONFIG_IMU`	Polls IMU at the configured frequency, updates orientation and acceleration globals.
`baro_task`	`CONFIG_BARO`	Measures pressure/temperature, computes altitude.
`state_machine_task`	`CONFIG_AURORA_STATE_MACHINE`	Runs at 10 Hz. Feeds sensor data into the state machine and fires pyro channels on state transitions.

Flight States¶

The simple state machine implements the following flight sequence:

IDLE -> ARMED -> BOOST -> BURNOUT -> APOGEE -> MAIN -> REDUNDANT -> LANDED
                                                                 \-> ERROR

State transitions are driven by sensor thresholds configured via Kconfig (boost acceleration, main descent height, apogee timeout, etc.).

Supported Boards¶

Board	MCU	Notes
`rpi_pico`	RP2040 (Cortex-M0+)	Primary target
`rpi_pico2_hazard3`	RP2350 (RISC-V Hazard3)
`esp32s3_micrometer`	ESP32-S3	Custom Auxspace board