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Tera Ground Control (Teragroundcontrol) · Ground control for Tera’s hybrid navigation stack
Tera Ground Control is a fork of QGroundControl tailored for Tera flight operations. It keeps upstream MAVLink compatibility with PX4 and ArduPilot, while adding fly-view tooling, telemetry overlays, and GCS-side workflows used with Tera’s hybrid system, odometry publishers, and companion processes.
This repository is maintained by Ayush Zenith (ayushzenith / ayush@tera-ai.com) for Tera AI–branded builds (application display name TGroundControl in installers and desktop metadata) - Feel free to contact for support + feature requests
- Hybrid + vision stack: First-class support for live odometry on the map, with estimator-aware styling (mapping, tracking, propagation).
- GPS + odometry together: GPS_RAW_INT path on the map, raw GPS telemetry readouts, and optional GPS vs odometry error panel (distance at each odometry update), with history sparkline and min/avg/max stats.
- Multi-system MAVLink: Odometry plotting prefers sys 77, with fallbacks
- EKF insight: EKF control / status panel work focused on parameters, visibility, and diagnostics for closed loop.
- Map UX: Velocity-style overlays, propagation plot options, hybrid map bounds display, and fixes for polyline / arrowhead rendering.
- Operator controls (fly view): MAVLink actions to restart hybrid navigation and stop the camera publisher - non mcap
Upstream docs remain useful for generic QGC behavior; Tera-specific behavior lives in this tree (notably src/FlyView/, src/Vehicle/).
CI is defined in .github/workflows/build-and-release.yml on tera-ai/qgroundcontrol.
GitHub Releases — latest — pick assets for your OS, or use direct links when those files are attached to the newest tag:
| Platform | Download |
|---|---|
macOS (universal .dmg) |
TGroundControl.dmg |
Windows (x64 installer .exe) |
TGroundControl-installer-AMD64.exe |
Linux (x86_64 .AppImage) |
TGroundControl-x86_64.AppImage |
Additional Windows installers (ARM64, combined) and Linux aarch64 (.AppImage) are listed on the same release page when published.
If a releases/latest/download/... link returns 404, there may be no tagged release yet — use the CI path below.
→ Build and Release workflow runs
Open the top successful run for the branch you care about (e.g. master), then scroll to Artifacts and download:
| Platform | Artifact name (in the run) |
|---|---|
| macOS | TGroundControl (contains TGroundControl.dmg) |
| Windows x64 | TGroundControl-installer-AMD64 |
| Linux x86_64 | TGroundControl-x86_64 |
| Linux aarch64 | TGroundControl-aarch64 |
GitHub may expire workflow artifacts after a period; tagged Releases keep binaries longer.
- Upstream developer guide: dev.qgroundcontrol.com — toolchain, Qt, and platform setup still follow QGC conventions unless noted in our
CMakeLists.txtcomments (e.g. TGroundControlOUTPUT_NAMEand CI packaging expectations). - License: QGroundControl licensing applies to the upstream-derived code; see
.github/COPYING.mdand upstream license.
Tera Ground Control — forked from QGroundControl for Tera’s stack; not an official Dronecode / QGroundControl release.