A modular C++ project for autonomous mission control with MAVLink integration, vision processing, and mission management.

lela-2026/
├── include/                 # Header files
│   ├── common/             # Common module (types, config, state)
│   ├── mavlink/            # MAVLink module (node, drop logic, servo, status)
│   ├── vision/             # Vision module (camera, hotspot detection)
│   └── mission/            # Mission module (mission controller)
├── src/                    # Source files
│   ├── common/
│   ├── mavlink/
│   ├── vision/
│   └── mission/
├── third_party/            # Third-party libraries
│   └── mavlink/           # MAVLink library (to be added)
├── main.cpp               # Application entry point
└── Makefile               # Build system

• types.h/cpp: Common data types (Position, Velocity, Attitude, SystemStatus)
• config.h/cpp: Configuration management
• state.h/cpp: Thread-safe shared state management

• node.h/cpp: MAVLink I/O node for vehicle communication
• drop_logic.h/cpp: Drop sequence logic and conditions
• status_reporter.h/cpp: Mission status reporting
• servo_controller.h/cpp: Servo control for drop mechanism

• camera_interface.h/cpp: Camera capture interface
• hotspot_detection.h/cpp: Color-based hotspot detection

• mission_controller.h/cpp: State machine for mission phases (IDLE, SEARCH, ALIGN, DROP, RETURN)

• g++ with C++17 support
• pthread library
• Make

# Build the project
make

# Clean build artifacts
make clean

# Build and run
make run

# Show help
make help

# Build individual modules
make common
make mavlink
make vision
make mission

# Run with default configuration
./bin/lela_mission

# Run with custom configuration file
./bin/lela_mission config.txt

The project expects MAVLink headers to be available in third_party/mavlink/.

Current implementation includes stub functions for demonstration purposes. Full implementation requires:

• MAVLink library integration
• Camera driver integration (e.g., V4L2, OpenCV)
• Image processing for hotspot detection
• Navigation and control algorithms