# AR-Autopilot

Professional marine autopilot for vessels in the 30-40 m range (motor yachts, motor sailboats, fishing vessels, small ferries, coastal patrol boats).

Part of the **AR Suite** alongside AR-ECDIS, VMS-Sailor, AR-ShipDesign, AR-ElecArrangement, and AR-StabCol. Sold standalone or bundled with AR-ECDIS.

> **NOT** Dynamic Positioning. **NOT** joystick docking. This is a classic heading-and-track autopilot with intelligent drift compensation, controlling rudder actuators (hydraulic or electric).

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## Status

**Sprint 0 — Foundations (in progress).**

This sprint delivers the repository structure, core data model, seed library, and a passing test suite. No functional firmware, Studio GUI, or display yet — those start in Sprint 1.

See [`docs/AR_Autopilot_brief.md`](docs/AR_Autopilot_brief.md) for the complete project brief, scope, and roadmap.

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## Components

| Component | Tech | Purpose |
|---|---|---|
| **Studio** (`arautopilot/studio/`) | Python 3.11 + PySide6 | Project configurator (integrator-side, not shipped to customers). Generates per-vessel `.appack` packages |
| **Firmware** (`firmware/ar_autopilot_v1/`) | C++ on ESP32 via PlatformIO | Real-time PID control, NMEA 2000 + Modbus, safety logic. Runs on the AR-NMEA-IO v1.0 board (shared with VMS-Sailor) |
| **Display** (`display/`) | Flutter Desktop (Win + Linux) | Dedicated bridge cockpit-feel touch display with rotary knob input |
| **Core models** (`arautopilot/core/`) | Pydantic v2 | Shared data model (vessel config, PID config, actuator config, alarms, modes, knob state) |
| **Library** (`arautopilot/library/`) | YAML + JSON | Curated seed: actuator profiles, default tunings per vessel type |

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## Requirements

- Python **3.11** or newer
- Git
- (Later sprints) PlatformIO, Flutter SDK, WiX Toolset

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## Quick start (Sprint 0)

```powershell
# Create venv and install
python -m venv .venv
.\.venv\Scripts\Activate.ps1
python -m pip install -U pip
pip install -e ".[dev]"

# Run tests
pytest

# Run the Sprint 0 demo (creates, saves, reloads a project config)
python examples/sprint0_demo.py
```

---

## Repository layout

```
AR-Autopilot/
├── arautopilot/          # Python package (core models, library, studio stubs, tests)
├── firmware/             # ESP32 firmware (Sprint 1+; only pinout.h in Sprint 0)
├── display/              # Flutter dedicated display (Sprint 4+)
├── examples/             # Runnable demos
├── docs/                 # Brief + per-sprint design docs
├── installer/            # WiX MSI scripts (later)
└── tools/                # Helper scripts (later)
```

See [`docs/architecture.md`](docs/architecture.md) for a one-page architecture overview.

---

## Sprint roadmap

| Sprint | Focus |
|---|---|
| **0** | Foundations: repo structure, core data model, seed library, tests |
| 1 | Firmware base (I/O, Modbus, NMEA 2000 read, STANDBY mode) |
| 2 | PID inner loop (rudder position control) |
| 3 | PID outer loop + Heading Hold (with ROT feed-forward & gain scheduling) |
| 4 | Studio + basic dedicated display |
| 5 | True Course + Track Keeping (smooth XTE correction) |
| 6 | Safety, alarms, NMEA 2000 publish, VMS alarm consumption |
| 7 | Knob + commissioning + offline auto-tuning |
| 8 | EKF + adaptive tuning + telemetry + VPN |
| 9 | Hardening + integrated testing |
| 10+ | Phase 2 (wind modes for sailboats) and beyond |

Full detail in the brief.

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## License

Proprietary. All rights reserved. See [`LICENSE.txt`](LICENSE.txt).

Commercial deployment requires a per-vessel license bound to the installation HWID. Contact <alro65@gmail.com> for licensing.