# peng | Yang Zhou | Knowledge Base | Instagit

A minimal quadrotor autonomy framework in Rust (Mac, Linux, Windows)

GitHub Stars: 709

Repository: https://github.com/makeecat/peng

---

## Articles

### [How to Configure Camera Intrinsic Parameters for Depth Rendering in Peng](/makeecat/peng/how-to-configure-camera-intrinsic-parameters-depth-rendering-peng)

Configure camera intrinsic parameters for depth rendering in Peng by setting resolution, FOV, and near/far planes in quad.yaml. Peng automatically derives focal lengths.

- Tags: how-to-guide
- Published: 2026-03-06

### [How the Maze Obstacle System Works in Peng: Implementation and Physics](/makeecat/peng/describe-maze-obstacle-system-implementation-peng)

Explore the Maze obstacle system implementation in Peng. Learn how this 3D simulation component generates and renders spherical obstacles in Rust.

- Tags: internals
- Published: 2026-03-06

### [How to Switch Between Trajectory Planners at Runtime in Peng](/makeecat/peng/how-to-switch-trajectory-planners-runtime-peng)

Easily switch trajectory planners at runtime in Peng using YAML configurations or Rust code. Optimize your robotic system with flexible planner management. Learn how now!

- Tags: how-to-guide
- Published: 2026-03-06

### [State Derivative Calculation for RK4 Integration in Peng](/makeecat/peng/what-is-state-derivative-calculation-rk4-integration-peng)

Learn how Peng calculates the state derivative for RK4 integration in its Quadrotor state_derivative method. Understand quadrotor physics and rates of change.

- Tags: internals
- Published: 2026-03-06

### [How to Add New Types of Obstacles to the Peng Simulation Environment](/makeecat/peng/how-to-add-new-obstacle-types-peng-simulation-environment)

Easily add custom obstacles to the Peng simulation by implementing ObstacleTrait and updating the Maze container. Enhance your simulations with new geometries.

- Tags: how-to-guide
- Published: 2026-03-06

### [How to Implement Error Handling for the Quadrotor Simulation in Peng](/makeecat/peng/how-to-implement-error-handling-quadrotor-simulation-peng)

Learn how to implement quadrotor simulation error handling in Peng. Discover how Rust's Result and the ? operator manage failures effectively across all simulation layers.

- Tags: how-to-guide
- Published: 2026-03-06

### [How to Add New Planners to the Existing Schedule in Peng](/makeecat/peng/how-to-add-new-planners-existing-schedule-peng)

Learn how to add new planners to your existing Peng schedule. Implement the Planner trait, extend PlannerType, and update dispatch logic for seamless integration.

- Tags: how-to-guide
- Published: 2026-03-06

### [How to Configure Control Frequency vs Simulation Frequency in Peng](/makeecat/peng/how-to-configure-control-frequency-vs-simulation-frequency-peng)

Learn how to configure control frequency vs simulation frequency in Peng by editing the quad.yaml file. Optimize your simulation performance efficiently.

- Tags: how-to-guide
- Published: 2026-03-06

### [How rerun.io Visualization Enables Real-Time 3D Rendering in Peng](/makeecat/peng/how-rerun-io-visualization-enables-real-time-3d-rendering-peng)

Discover how rerun io visualization enables real-time 3D rendering in Peng. Stream scene updates instantly to the viewer for synchronized simulation visualization.

- Tags: deep-dive
- Published: 2026-03-06

### [How to Configure Maze and Obstacle Parameters for Simulation in Peng](/makeecat/peng/how-to-configure-maze-obstacle-parameters-simulation-peng)

Easily configure maze and obstacle parameters for simulation in Peng. Edit the quad.yaml config file directly without recompiling code to customize your simulation environment.

- Tags: how-to-guide
- Published: 2026-03-06

### [How to Tune PID Controller Gains for Different Quadrotors in Peng](/makeecat/peng/how-to-tune-pid-gains-different-quadrotors-peng)

Learn how to tune PID controller gains for different quadrotors in Peng by editing quad.yaml. Optimize performance with simulation and error monitoring.

- Tags: how-to-guide
- Published: 2026-03-06

### [How to Add Custom Trajectory Planners to the Peng Framework: A Step-by-Step Guide](/makeecat/peng/how-to-add-custom-trajectory-planners-peng-framework)

Learn how to add custom trajectory planners to the Peng framework. Implement the Planner trait, register your planner in the enum, and extend dispatch match arms for seamless integration.

- Tags: how-to-guide
- Published: 2026-03-06

### [Minimum Snap Waypoint Planning Using OSQP in Peng: Implementation Guide](/makeecat/peng/explain-minimum-snap-waypoint-planning-osqp-peng)

Learn minimum snap waypoint planning using OSQP in Peng. This guide details the implementation, minimizing snap via quadratic programming with constraints in Rust.

- Tags: how-to-guide
- Published: 2026-03-06

### [How to Set Up the Planner Schedule for Quadrotor Control in Peng](/makeecat/peng/how-to-set-up-planner-schedule-quadrotor-control-peng)

Learn how to set up the planner schedule for quadrotor control in Peng by configuring the quad.yaml file. Automatically activate trajectory planners during runtime for efficient control.

- Tags: how-to-guide
- Published: 2026-03-06

### [How Peng's Multi-Threaded Depth Rendering Works](/makeecat/peng/how-peng-multi-threaded-depth-rendering-works)

Discover how Peng's multi-threaded depth rendering parallelizes ray casting across CPU cores for faster depth map generation. Learn about chunking and performance gains.

- Tags: internals
- Published: 2026-03-06

### [How Peng Simulates IMU Noise and Bias Drift in Quadrotor Simulations](/makeecat/peng/how-imu-noise-and-bias-drift-simulated-in-peng)

Learn how Peng simulates IMU noise and bias drift in quadrotor simulations. Discover realistic sensor jitter and long-term drift for improved flight controller testing.

- Tags: how-to-guide
- Published: 2026-03-06

### [How to Configure and Switch Between Different Trajectory Planners in Peng](/makeecat/peng/how-to-configure-and-switch-trajectory-planners-in-peng)

Configure and switch trajectory planners in Peng by editing quad.yaml for timed transitions or use PlannerManager::set_planner for immediate Rust code changes.

- Tags: how-to-guide
- Published: 2026-03-06

### [How Peng's PID Controller Prevents Integral Windup: A Code-Level Analysis](/makeecat/peng/how-does-pid-controller-in-peng-handle-integral-windup)

Discover how Peng's PID controller prevents integral windup with code-level analysis. Learn to clamp accumulated error terms for stable control in your projects.

- Tags: internals
- Published: 2026-03-06

### [How to Implement the Potential Field Approach for Obstacle Avoidance in Peng](/makeecat/peng/how-to-implement-potential-field-obstacle-avoidance-in-peng)

Learn to implement the potential field approach for obstacle avoidance in Peng. Generate real-time velocity commands for quadrotor navigation using attractive repulsive and vortex forces.

- Tags: how-to-guide
- Published: 2026-03-06

### [How to Integrate RK4 vs Euler for Quadrotor Dynamics in Peng](/makeecat/peng/how-to-integrate-rk4-vs-euler-for-quadrotor-dynamics-in-peng)

Compare RK4 vs Euler integration for quadrotor dynamics in the Peng simulator. Learn how to select and implement these methods for accurate state propagation in your projects.

- Tags: deep-dive
- Published: 2026-03-06