ROS Index
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.
Repository Summary
| Checkout URI | https://github.com/TobasFlightControl/tobas.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-08-11 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
README
Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe’s physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.
Quick Links
| Purpose | Document |
|---|---|
| Use Tobas | Tobas User Guide |
| Install Tobas | Installation Guide |
| Build from source | Setup |
| Contribute changes | Contributing to Tobas |
| Edit the documentation | Documentation README |
| Review licensing options | Commercial License |
Supported Platform
- Ubuntu 24.04 LTS
- ROS 2 Jazzy
- Debian Trixie for flight-controller images
Repository Layout
-
docs: MkDocs-based user and developer documentation. -
tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages. -
tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools. -
tobas_examples: Example packages and code-style references. -
tobas_dev_tools: Development, synchronization, and deployment helper scripts. -
tobas_deb: Debian packaging resources for supported images. -
tobas_external: Third-party libraries wrapped for the Tobas workspace.
For Contributors
See Contributing to Tobas for source setup, code style, pre-commit checks, and Git guidelines.
License
Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).
The *_msgs packages, including their .msg, .srv, and .action files,
are licensed under Apache-2.0.
See LICENSE for the default open source license, and LICENSES/Apache-2.0.txt for the Apache-2.0 license text.
If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.
See COMMERCIAL-LICENSE.md for commercial licensing information.
For commercial licensing inquiries, please contact: contact@tobas.jp
CONTRIBUTING
Contributing to Tobas
This guide is for contributors preparing changes for review. If you only want to install and use Tobas, start from the Tobas User Guide.
Setup
See Setup for source checkout, PC build, and FC deployment instructions.
Pre-Commit Check
Install dependencies:
$ sudo apt install -y pre-commit black clang-format cmake-format qt6-declarative-dev-tools
To check all:
$ pre-commit run -a
To check every time you commit in git (optional):
$ pre-commit install
To update hook repository versions:
$ pre-commit autoupdate
Code Style
C++
See C++ Code Style.
Python
See Python Code Style.
CMake
See CMake Code Style.
Git
See Git Guideline.