> ## Documentation Index > Fetch the complete documentation index at: https://docs.altnautica.com/llms.txt > Use this file to discover all available pages before exploring further. # Project structure > Directory maps and key files for the ADOS repositories: Mission Control, the agent, Extensions, the MCP server and the Android GCS. ADOS spans several repositories. Their licences are listed on [Open source](/getting-started/open-source). This page is the reference for how each one is laid out. Generated output, dependencies and build folders (`node_modules/`, `dist/`, `target/`, virtual environments) are left out. ## Mission Control **Repository:** [github.com/altnautica/ADOSMissionControl](https://github.com/altnautica/ADOSMissionControl) **Stack:** Next.js 16, React 19, TypeScript, Zustand 5, Tailwind CSS 4, Leaflet, CesiumJS, Convex, Electron. ```text theme={"theme":{"light":"github-light","dark":"github-dark"}} ADOSMissionControl/ ├── src/ │ ├── app/ # Next.js App Router │ │ ├── page.tsx # Dashboard (home) │ │ ├── plan/ # Mission planner │ │ ├── simulate/ # 3D simulation and replay (Cesium) │ │ ├── flight-logs/ # Flight log review and reports │ │ ├── mcp/ # MCP server connections │ │ ├── config/ # App settings (data, firmware, input, notifications, plugins, theme, video, ...) │ │ ├── pair/ # Add a node over the LAN │ │ ├── community/ # Changelog and contact │ │ └── api/ # Route handlers (auth, LAN pairing proxy, firmware and manifest fetch, ...) │ ├── components/ # React components by area │ │ ├── dashboard/ # Fleet dashboard │ │ ├── drone-detail/ # Per-vehicle tabs, FC panel navigation and routing │ │ ├── fc/ # Flight controller configuration panels │ │ ├── cockpit/ # Flight cockpit │ │ ├── flight/ # Flight controls │ │ ├── planner/ # Mission planning │ │ ├── simulation/ # Simulation │ │ ├── map/ # Map layers │ │ ├── hardware/ # Ground station hardware views │ │ ├── connect/ # Connect dialog and transport panels │ │ ├── plugins/ # Extension host and UI slots │ │ ├── vision/ # Vision views │ │ ├── shared/, ui/ # Shared components and primitives │ │ └── ... │ ├── stores/ # Zustand stores │ ├── lib/ # Core libraries │ │ ├── protocol/ # MAVLink and MSP: parser, adapters, encoders, transports │ │ ├── video/ # WebRTC (WHEP and MQTT-signalled) and MSE playback │ │ ├── agent/ # Agent client: pairing, status, capabilities │ │ ├── plugins/ # Extension runtime, capabilities, slot registry │ │ ├── dronecan/, can/ # DroneCAN │ │ ├── mission/, patterns/ # Mission model and survey patterns │ │ └── ... │ ├── hooks/ # React hooks (use-panel-params.ts and others) │ ├── mock/ # Demo mode: flight engine, mock protocol, demo fleet │ ├── i18n.ts # Translation setup │ └── types/ ├── locales/ # Translations, one JSON file per language (en.json is the source) ├── convex/ # Convex backend: schema, HTTP actions, cloud relay tables ├── electron/ # Desktop app (main process, native UDP and TCP sockets, updater) ├── tools/ │ ├── sitl/ # ArduPilot SITL launcher and WebSocket bridge │ ├── mavlink-bridge/ # Local bridge for UDP and TCP links from a browser │ ├── mqtt-bridge/ # Mosquitto broker deployment │ ├── video-relay/ # RTSP to fragmented MP4 over WebSocket │ ├── selfhost/ # All-in-one self-host stack │ └── deploy/ # Self-host deploy tool ├── public/ # Static assets ├── scripts/ # Build and maintenance scripts ├── tests/ ├── package.json ├── next.config.ts ├── CONTRIBUTING.md └── SELFHOSTING.md ``` ### Key files | File | What it does | | - | - | | `src/lib/protocol/types/protocol.ts` | The `DroneProtocol` interface every adapter implements | | `src/lib/protocol/mavlink-adapter.ts` | The MAVLink adapter for ArduPilot and PX4 | | `src/lib/protocol/mavlink-adapter-frame-handlers.ts` | `routeFrame()`: message id to handler | | `src/lib/protocol/msp-adapter.ts` | The MSP adapter for Betaflight and iNav | | `src/lib/protocol/mavlink-crc-extra.ts` | CRC\_EXTRA and payload lengths for every decoded message | | `src/stores/drone-manager.ts` | Connected vehicles, their adapters and the selected vehicle | | `src/stores/drone-manager-bridge.ts` | `bridgeTelemetry()`: adapter callbacks to stores | | `src/stores/telemetry-store.ts` | Ring-buffered telemetry | | `src/hooks/use-panel-params.ts` | The parameter hook every configuration panel uses | | `src/components/drone-detail/fc-nav-items.tsx` | The list of flight controller configuration panels | | `src/components/drone-detail/FcPanelRouter.tsx` | Maps a panel id to its component | | `src/lib/video/webrtc-client.ts` | WHEP and MQTT-signalled WebRTC client | | `convex/schema.ts` | Convex database schema | | `convex/http.ts` | Convex HTTP actions the agent calls (`/agent/status`, `/agent/commands`, ...) | ## Drone Agent and Ground Agent **Repository:** [github.com/altnautica/ADOSDroneAgent](https://github.com/altnautica/ADOSDroneAgent) **Stack:** Rust (a Cargo workspace in `crates/`, tokio, axum) and Python 3.11 or later, managed by systemd. One codebase serves every profile. ```text theme={"theme":{"light":"github-light","dark":"github-dark"}} ADOSDroneAgent/ ├── crates/ # Rust workspace │ ├── ados-supervisor/ # Gates, starts and supervises the systemd units │ ├── ados-mavlink-router/ # FC serial link, MAVLink IPC fan-out, vehicle-state snapshot, :8765 WebSocket │ ├── ados-control/ # Native HTTP front on :8080 │ ├── ados-cloud/ # Cloud relay: status heartbeat, command poll, MQTT relays, WebRTC signaling │ ├── ados-video/ # Video pipeline: ffmpeg, MediaMTX and radio tap supervision │ ├── ados-radio/ # WFB-ng link: adapter selection, monitor mode, TX, frequency hopping │ ├── ados-groundlink/ # Ground data plane: WFB receive, video fan-out, mesh │ ├── ados-net/ # Ground uplink matrix: wired, Wi-Fi station, cellular, failover │ ├── ados-display/ # OLED and LCD rendering, panel probe │ ├── ados-hid/ # Touch, buttons, gamepads and the front-panel arbiter │ ├── ados-gpio/ # GPIO output (buzzer, LED) │ ├── ados-crsf/ # CRSF and ExpressLRS RC control lane │ ├── ados-config-tunnel/ # Config over radio (MAVLink TUNNEL) │ ├── ados-swarmbus/ # Swarm state bus (2 Hz position beacons) │ ├── ados-swarm-control/ # Onboard swarm control laws and task allocation │ ├── ados-vision/ # Vision engine host: frame rings, model registry │ ├── ados-offload/ # Perception offload for drones without an NPU │ ├── ados-plugin-host/ # Plugin RPC host and capability-token checks │ ├── ados-logd/ # Black-box log and telemetry store (SQLite), :8090 │ ├── ados-macpin/ # Stable MAC pinning for adapters that randomize it │ ├── ados-hal-probe/ # Probe-first hardware capability detection │ ├── ados-config/ # Config loading for the Rust services │ ├── ados-protocol/ # IPC wire contracts and contracts.toml │ ├── ados-capabilities-codegen/ # Generates the capability and contract tables for Rust, Python and TypeScript │ ├── ados-sdk/ # Rust plugin SDK │ ├── ados-installer/ # Step-graph installer │ └── ados-tui/ # Terminal dashboard (`ados` with no subcommand) ├── src/ados/ # Python package │ ├── api/ # Residual FastAPI app, behind ados-control on an internal socket │ ├── bootstrap/ # profile_detect.py: fallback profile detection │ ├── cli/ # The `ados` command │ ├── core/ # Config models, IPC helpers, generated contracts │ ├── hal/ # Board detection and board profiles (hal/boards/*.yaml) │ ├── plugins/ # Python plugin runtime support │ ├── sdk/ # Python plugin SDK │ ├── services/ # Entry points for Python-backed units │ ├── setup/ # Setup facade │ ├── dashboard/, cockpit/ # Built web bundles served by ados-control │ └── __init__.py # Agent version ├── dashboard/ # Agent dashboard web app (source) ├── cockpit/ # On-box cockpit web app (source) ├── web-shared/ # Code shared by the two web apps ├── data/systemd/ # Unit files ├── schemas/ # Agent config and plugin manifest JSON schemas ├── scripts/ # install.sh bootstrap, build and release helpers ├── vendor/ # WFB-ng and the RTL8812EU driver ├── docs/ # Reference material ├── tests/ ├── pyproject.toml ├── CONTRIBUTING.md └── README.md ``` ### Key files | File | What it does | | - | - | | `crates/ados-supervisor/src/registry.rs` | The unit catalog: categories, profile and role gates, crash-loop handling | | `crates/ados-protocol/contracts.toml` | Every IPC contract and its version | | `crates/ados-control/src/routing.rs` | Which routes are native and which prefixes go to the residual API | | `crates/ados-cloud/src/mqtt/mod.rs` | The MQTT topics and broker selection | | `src/ados/bootstrap/profile_detect.py` | The fallback hardware fingerprint used when no profile is set | | `src/ados/hal/boards/*.yaml` | Board profiles | | `data/systemd/*.service` | The unit files | | `scripts/install.sh` | The installer bootstrap | | `src/ados/__init__.py` | The agent version | The unit list is on [Systemd services](/drone-agent/systemd-services). ## Extensions **Repository:** [github.com/altnautica/ADOSExtensions](https://github.com/altnautica/ADOSExtensions) ```text theme={"theme":{"light":"github-light","dark":"github-dark"}} ADOSExtensions/ ├── extensions/ # First-party Extensions, one directory each │ ├── follow-me/ │ ├── mavlink-gimbal-v2/ │ ├── siyi-pod/ │ ├── thermal-camera-flir-lepton-usb/ │ ├── vision-nav/ │ └── world-engine/ ├── packages/ │ ├── create-ados-plugin/ # Plugin scaffolder │ ├── plugin-sdk/ # TypeScript SDK for the Mission Control side │ └── extension-ui/ # Shared UI primitives for first-party Extensions ├── scripts/ # Lint, pack, sign and submit ├── docs/ ├── Cargo.toml, pyproject.toml, package.json └── README.md ``` ## MCP server **Repository:** [github.com/altnautica/ADOS-MCP](https://github.com/altnautica/ADOS-MCP) ```text theme={"theme":{"light":"github-light","dark":"github-dark"}} ADOS-MCP/ ├── src/ │ ├── server.ts, cli.ts, index.ts # Server and command-line entry points │ ├── transport/ # MCP transports │ ├── auth/, gate/ # Scopes and confirmation for actions that move an aircraft │ ├── audit/ # Call audit trail │ ├── discovery/, registry/ # Finding and tracking nodes │ ├── catalog/ # Tool catalog │ ├── plane/ # Node and fleet access │ └── param-metadata/ ├── catalog/ ├── test/ └── package.json ``` ## Android GCS **Repository:** [github.com/altnautica/ADOSAndroidGCS](https://github.com/altnautica/ADOSAndroidGCS) **Stack:** Kotlin, Jetpack Compose, Gradle. ```text theme={"theme":{"light":"github-light","dark":"github-dark"}} ADOSAndroidGCS/ ├── app/ # Application module ├── feature/ # Screens: cockpit, configure, connect, fleet, logs, node, plan, settings ├── core/ # Shared modules: agent, cloud, data, database, designsystem, extensions, link, map, mavlink, model, skills, video ├── radio/ # Radio modules: rx, usb ├── build-logic/ # Gradle convention plugins ├── baselineprofile/ └── settings.gradle.kts ``` ## Paths on a running node | Path | Purpose | | - | - | | `/etc/ados/config.yaml` | Main agent configuration | | `/etc/ados/profile.conf` | The node's profile, written at install | | `/etc/ados/pairing.json` | Pairing state and key (mode 0600) | | `/opt/ados/bin/` | Rust service binaries | | `/opt/ados/venv/` | Python virtual environment | | `/run/ados/mavlink.sock` | MAVLink IPC socket | | `/run/ados/state.sock` | Vehicle-state socket (length-prefixed msgpack, see [Agent services](/architecture/agent-services#vehicle-state-socket)) | | `/run/ados/api-internal.sock` | Residual API socket behind `ados-control` | | `/run/ados/logd-query.sock` | Black-box query socket | ## Next steps Add a panel, a decoder, a store or a service. Set up a development environment and open a pull request. This documentation is built and hosted on [Mintlify](https://mintlify.com), a developer documentation platform.