The Mid Level Controller is based on the Raspberry Pi Zero W. It is part of the vehicle on-board electronics.

Its purposes are:

The setup and software build for the Raspberry Pi is explained under Vehicle Raspberry Pi.

Trajectory Controller

A model predictive controller runs on-board on the Raspberry Pi. It can steer the vehicle to follow a given trajectory.

To see how to use it to control a vehicle, go to Vehicle Commands.

To see how it works, go to