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ePAM

Personal Air Mobility

Flight computer and control systems for personal air mobility vehicles — eVTOL, multicopters, and fixed-wing autonomous aircraft.

Hardware ProductsC/C++, KiCadResearch

View on GitHub

Key Features

Flight Controller — Dual-redundant eos instances

Autonomous Navigation — eAI path planning

Sensor Fusion — IMU, GPS, barometer, LiDAR

Motor Control — 8-channel ESC with FOC

Fail-Safe Systems — Triple-redundant sensors

MAVLink Protocol — Ground station integration

Battery Management — Li-Ion pack monitoring

Architecture

Mission Planner (Ground Station)
├── MAVLink Communication
├── Autonomous Navigation (eAI + Path Planning)
├── Flight Controller (PID, Sensor Fusion)
├── Motor Control (8-ch ESC, FOC)
├── eos RTOS (Dual-redundant)
└── Hardware (Flight Computer PCB, ESC Board)

Code Example

#include <epam/flight.h>
#include <epam/navigation.h>

epam_flight_init(EPAM_CONFIG_EVTOL);

epam_waypoint_t route[] = {
    {.lat = 37.7749, .lon = -122.4194, .alt = 100},
    {.lat = 37.8044, .lon = -122.2712, .alt = 150},
};

epam_set_route(route, 2);
epam_arm_motors();
epam_takeoff(50.0);  // 50m altitude
epam_follow_route(EPAM_MODE_AUTO);

API Highlights

Function	Description
`epam_flight_init()`	Initialize flight controller
`epam_takeoff()`	Autonomous takeoff to altitude
`epam_set_route()`	Set waypoint navigation route
`epam_land()`	Autonomous landing sequence

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