This monorepo contains the source code for all Elodin simulation and flight software:

• Flight software
  • aleph-os: Aleph NixOS modules for composing a Linux flight software stack that runs on the Orin.
  • elodin-db (FSW application): A time-series database which functions as a central telemetry store and message bus.
  • serial-bridge (FSW application): Reads sensor data being streamed over the serial port and writes it to elodin-db.
  • mekf (FSW application): A Multiplicative Extended Kalman Filter implementation that fuses sensor data to estimate vehicle attitude.
  • sensor-fw: Aleph expansion board firmware that streams sensor data (IMU, mag, baro) to the Orin over USB/UART.
• Simulation software
  • nox-py: Python version of nox-ecs, that works with JAX.
• Editor: 3D viewer and graphing tool for visualizing both simulation and flight data.

• Determinate Systems Nix for a consistent development environment
• Just: ( brew install just / apt install just )
• git-lfs: ( brew install git-lfs / apt install git-lfs ), and make sure to activate it globally with git lfs install from the terminal.
• STRONGLY prefer an Arm-based MacOS, nix works on x86 & Ubuntu but at much slower build speeds and worse DX.

The Elodin repository uses Nix to provide a consistent, reproducible development environment across all platforms. This is the same environment our team uses daily.

# Install Determinate Systems Nix (recommended)
curl --proto '=https' --tlsv1.2 -sSf -L https://install.determinate.systems/nix | sh -s -- install

git clone https://github.com/elodin-sys/elodin.git
cd elodin

nix develop

just install

elodin --version

python3 examples/rocket/main.py run

Open the Elodin editor in a new nix develop shell and connect to the local server

# In a new terminal
nix develop
# build the SDK python wheel
cd libs/nox-py && \
uv venv --python 3.12 && \
source .venv/bin/activate && \
uvx maturin develop --uv
# use the newly built wheel
python3 ../../examples/rocket/main.py run

Open the Elodin editor and connect to the local server

If you cannot use Nix, you can manually install dependencies on macOS:

# Install required tools via Homebrew
brew install gstreamer python gfortran openblas uv git-lfs rust

# Initialize git-lfs
git lfs install

git clone https://github.com/elodin-sys/elodin.git
cd elodin
just install

cd libs/nox-py
uv venv --python 3.12
source .venv/bin/activate
uvx maturin develop --uv
uv sync

cargo run --manifest-path=../../apps/elodin/Cargo.toml editor ../../examples/three-body/main.py

• Elodin App Documentation
• Python SDK Documentation
• Internal Nix Documentation