Each stage links to a LIVE governed endpoint on this app. This surface is the platform stage: it turns a commanded body wrench into rotor thrusts (allocation) and rolls the rigid-body state forward one step (6DOF). Estimation is upstream (active-flux), safety/fusion are downstream (CBF-QP + BFT), and the final engage is governed + SIMULATED human-on-loop.
Command a body wrench τ = [total thrust, roll, pitch, yaw] and the allocator solves for the minimum-norm rotor thrusts f = B⁺·τ, then saturates each rotor to its limit. The achieved wrench B·f and the residual are reported honestly. MODELED — no motor is driven.
One Euler step of the body-frame 6DOF model: the commanded wrench from the allocator drives the angular-rate + attitude derivatives. The attitude viz shows the resulting roll/pitch (top-down rotor disk). MODELED — Aerospace-Blockset shape (Hassan MBD), not a live airframe.