Control Systems Analysis Framework (CSAF) is a framework to minimize the effort required to evaluate, implement, and verify controller design (classical and learning enabled) with respect to the system dynamics. Its key features are:
- Component based controller design
- Native support for python and C language executables
- Compatibility with external hardware and software processes
- Ease of deployment.
Controllers, subsystems and plants are implemented as a collection of components. Components communicate via a 0MQ pub/sub configuration and serialize/deserialize ROS messages. Below is an example of a topology graph of F16 system with GCAS autopilot.