Vehicle-adaptive uncrewed-aerial-vehicle (UAV) avionics · In development

ICARUS REAPER

Mark I first in the ICARUS Reaper line

More aircraft.
Fewer boxes.

Autonomy without the companion computer.

Request a briefing Explore the architecture

Mark I · engineering prototype v0.2 · in active development · every drawing here is an architecture diagram, not a photograph or a measurement

M1 M2 M3 M4 SENS PWR VISION COMPUTE PRIMARY CONTROL 59.0 × 48.4 mm · two boards, one footprint

ComputeVision compute

PrimaryPrimary control

Sensing · powerSensing and protected power

MotorsM1 · M2 · M3 · M4 · four motor-authority channels

59.0 × 48.4 mm · two boards, one footprint

COMPUTE · RF · VISION · NETWORK · SERVICE BOARD-TO-BOARD INTERCONNECT FLIGHT · SENSING · BLACK BOX · POWER · ACTUATION

ENKI AI Live

AI-native engineering copilot

Built today for spacecraft engineering. Coming natively to ICARUS Reaper.

Explore ENKI AI Space Studio

Capability density

The flight stack.
59 millimeters wide.

VISION FC 59.0 mm 48.4 mm ANTENNAS · RF VISION · COMMS · SERVICE PRIMARY CONTROL · SENSING · BLACK BOX POWER · ACTUATION

ComputeVision

PrimaryFC · flight control

Upper boardAntennas · RF (radio) / Vision · comms · service

Lower boardPrimary control · sensing · black box / Power · actuation

59.0 mm × 48.4 mm · one footprint

59.0 × 48.4 MM · TWO BOARDS · ONE FOOTPRINT

Fewer modules Fewer interfaces Less integration

One module replaces interfaces that otherwise have to be powered, wired, packaged and debugged separately.

  • // onboard antennas · designed so that normal production operation requires no external antenna attachment
  • // architected around one authenticated command contract over direct radio, Wi-Fi and optional cellular · with a specified quality-of-service (QoS) order
  • // one USB-C designed as both service port and payload host · USB-only mode specified never to energize motor, servo or other high-energy actuator rails
  • // non-removable black box plus removable replay storage · no filesystem operation may block a flight deadline
DIRECT RADIO Wi-Fi CELLULAR (optional) ONE AUTHENTICATED COMMAND CONTRACT CONTROL VIDEO BULK specified order · not measured behaviour

Vehicle adaptivity

The airframe is a model, not a firmware fork.

VEHICLE + EFFECTORS MODEL machine-readable measured actuator response CONTROL ALLOCATION never blind at power-up passive discovery bounded static commissioning restrained dynamic controlled flight identification staged by design

ModelVehicle + effectors modelmachine-readable · measured actuator response

InvariantControl allocationone solid feed from the model, then five effector tracks into the rows below · never a mixer fixed to one geometry

never blind at power-up · passive discovery · bounded static commissioning · restrained dynamic · controlled flight, not yet reached

identification staged by design

minimum architectural reservation · not an inventory of built channels

  1. 4 × integrated motor channels Mark I validation instance
  2. 2 × supervised external-ESC command paths
  3. Surface-actuator command paths: aileron, elevator, rudder, elevon, flaperon, spoiler
  4. Tilt and transition actuator command paths
  5. Smart and distributed actuators over a qualified bus

target architecture classes · not current flight-validation claims

  • Multirotor, any rotor count Mark I validation instance
  • Fixed wing
  • Flying wing and V-tail
  • Lift-plus-cruise vertical take-off and landing (VTOL)
  • Tilt rotor and tilt wing VTOL
  • Tailsitter VTOL
  • Powered-lift and aerodynamic hybrids

Onboard autonomy

Vision belongs on the aircraft.

FC companion computer the old two-box path camera port SENSE PERC CTRL one module

Was Flight controller + a separate companion computer + the interconnect between them

Now One module · a dedicated camera port into sense → perceive → control

Perception at the edge. Control at the core.

The perception stack is designed onto the flight module itself, beside the sensors that feed it and the controller it serves.

// a dedicated camera path on the perception compute · USB-C is not the primary permanent camera connector

ICARUS ReaperOS

Aerial avionics from the ICARUS lineage.

Shared primitives. Domain-specific assurance.

ICARUS OS CORE deterministic kernel lineage scheduling IPC memory protection ICARUS PRIME space · OBC precedent · not Reaper's flight software domain boundary · evidence does not cross it ICARUS REAPEROS air · uncrewed aircraft · its own aerial-domain product

LineageICARUS OS Core

SpaceICARUS PrimeOBC precedent · not Reaper's flight software

domain boundary · evidence does not cross it

AirICARUS ReaperOSits own aerial-domain product

// engineering patterns transfer · flight evidence does not

Resilient authority

The mission
survives
the computer.

Normal

perceive · advise does not own actuation TAKEOVER IS PHYSICAL primary declared unavailable deterministic transfer · under validation PRIMARY CONTROL STM32H750 · ICARUS ReaperOS · deterministic AUTHORITY FAULT PERCEPTION COMPUTE · RESERVE STM32N657 · perception · network · video deterministic emergency-control partition AUTHORITY FAULT LOCAL MOTOR AUTHORITY AUTHORITY ESC1 → M1 ESC2 → M2 ESC3 → M3 ESC4 → M4 each channel: commutation · limits · protection ENKI EDGE out of band not required for flight or failover QUARANTINE DIAGNOSE REPAIR
  • Layer 1 · Primary control Authority
  • Layer 2 · Perception compute · reserve Perceives and advises. Does not own actuation.
  • Layer 3 · Local motor authority Limits held locally, per channel
  • ENKI Edge · out of band Idle. Not required for flight or failover.

The primary flies. The reserve perceives and advises, and never owns flight-critical actuation. Every motor channel holds its own limits.

Primary lost

perceive · advise does not own actuation TAKEOVER IS PHYSICAL primary declared unavailable deterministic transfer · under validation PRIMARY CONTROL STM32H750 · ICARUS ReaperOS · deterministic AUTHORITY FAULT PERCEPTION COMPUTE · RESERVE STM32N657 · perception · network · video deterministic emergency-control partition AUTHORITY FAULT LOCAL MOTOR AUTHORITY AUTHORITY ESC1 → M1 ESC2 → M2 ESC3 → M3 ESC4 → M4 each channel: commutation · limits · protection ENKI EDGE out of band not required for flight or failover QUARANTINE DIAGNOSE REPAIR
  • Layer 1 · Primary control Fault. Declared unavailable.
  • Layer 2 · Perception compute · reserve Authority, by deterministic transfer. Under validation.
  • Layer 3 · Local motor authority Limits held locally, per channel
  • ENKI Edge · out of band Idle. Not required for flight or failover.

After the deterministic system declares the primary unavailable, the reserve sheds perception work and a precompiled, prevalidated deterministic emergency-control partition takes authority. Takeover is physical, and under validation.

Upstream compute lost

perceive · advise does not own actuation TAKEOVER IS PHYSICAL primary declared unavailable deterministic transfer · under validation PRIMARY CONTROL STM32H750 · ICARUS ReaperOS · deterministic AUTHORITY FAULT PERCEPTION COMPUTE · RESERVE STM32N657 · perception · network · video deterministic emergency-control partition AUTHORITY FAULT LOCAL MOTOR AUTHORITY AUTHORITY ESC1 → M1 ESC2 → M2 ESC3 → M3 ESC4 → M4 each channel: commutation · limits · protection ENKI EDGE out of band not required for flight or failover QUARANTINE DIAGNOSE REPAIR
  • Layer 1 · Primary control Fault. Silent.
  • Layer 2 · Perception compute · reserve Fault. Silent.
  • Layer 3 · Local motor authority Authority, under a bounded vehicle-specific fallback contract
  • ENKI Edge · out of band Idle. Not required for flight or failover.

With both upper layers silent, the four Safety ESC Controllers hold the actuator boundary under a bounded vehicle-specific fallback contract. That contract is a validation requirement per airframe, not proven behaviour.

Recovery

perceive · advise does not own actuation TAKEOVER IS PHYSICAL primary declared unavailable deterministic transfer · under validation PRIMARY CONTROL STM32H750 · ICARUS ReaperOS · deterministic AUTHORITY FAULT PERCEPTION COMPUTE · RESERVE STM32N657 · perception · network · video deterministic emergency-control partition AUTHORITY FAULT LOCAL MOTOR AUTHORITY AUTHORITY ESC1 → M1 ESC2 → M2 ESC3 → M3 ESC4 → M4 each channel: commutation · limits · protection ENKI EDGE out of band not required for flight or failover QUARANTINE DIAGNOSE REPAIR
  • Layer 1 · Primary control Fault. Unchanged from Primary lost.
  • Layer 2 · Perception compute · reserve Authority. Unchanged from Primary lost.
  • Layer 3 · Local motor authority Limits held locally, per channel. Unchanged from Primary lost.
  • ENKI Edge · out of band Quarantine, diagnose, repair. One target at a time.

Failover already happened and waits for nothing. Only then may the out-of-band supervisor quarantine, diagnose and repair one target at a time. A repaired target never regains authority merely because it rebooted.

// the three authority rows above are identical to Primary lost: recovery changed nothing about who is flying · failover is independent of recovery

  1. Failover first
  2. Quarantine
  3. Diagnose
  4. Repair
  5. Validate
  6. Rejoin last

// the aircraft must fly and fail over if ENKI Edge is absent, dead, unpowered, corrupted or held in reset

// ESC = electronic-speed-control channel · each is also the local safety supervisor for its motor.

ENKI AI

The aircraft is only half the system.

ENKI AI is HawkLogic’s AI-native engineering copilot, live today as ENKI AI Space Studio. Reaper is architected around a second plane: ENKI Edge, an out-of-band, bounded recovery engineer designed to stay on the aircraft after the external engineer unplugs.

A general-purpose AI starts with context. ENKI AI starts with the system.

ENKI AI engineering environment

  • System model
  • Configuration

Airborne authority boundary

VISION · RESERVE PRIMARY CONTROL SENSING ENKI EDGE OUT OF BAND ICARUS REAPEROS

ComputeVision · reserve

PrimaryPrimary control

SensorsSensing

Out of bandENKI Edge

ICARUS ReaperOS

4× local motor authority

ENKI Edge · absence-safe · in development

  • Verify
  • Evidence

Deploy · Observe · Diagnose

ENKI AI surrounds Reaper. ENKI Edge rides inside it. Neither is flight authority.

ENKI Edge is designed to observe, diagnose and recover a quarantined compute domain through bounded operations on service and recovery paths only, never on the command path, and one target at a time.

actuator authority PRODUCTION AUTHORITY RESTRICTED-AUTHORITY FLIGHT LIVE SHADOW RECORDED-FLIGHT REPLAY HIL SIL SIM PROGRAMME POSITION no rung reached evidence ladder · none reached

// SIL software-in-the-loop · HIL hardware-in-the-loop. Shadow mode has no actuator authority.

ENKI AI spans the stack

  1. ReaperOS primitives
  2. Vehicle model
  3. Configuration
  4. Verify
  5. Evidence
  6. Observe
  7. Recover

  • System-native

    ICARUS ReaperOS primitives · the vehicle and effectors model · hardware and configuration schemas · current project state.

  • Tool-backed

    Explicit engineering actions through native product interfaces, not prose suggestions alone.

  • Evidence-bound

    Decisions, tests, configuration and observed results stay connected in one thread.

  1. Describe
  2. Measure
  3. Model
  4. Verify
  5. Configure
  6. Deploy
  7. Observe
  8. Diagnose
  9. Recover / Improve

// built with the copilot in the loop · architecture review, bring-up planning and verification are AI-assisted; engineering authority stays human-owned

Current
Spacecraft + satellite engineering Live Open the studio →
Next
ICARUS Reaper + UAV engineering, in the workshop and onboard as ENKI Edge In development

Program status

Where Reaper stands.

MARK I / V0.2 · ENGINEERING PROTOTYPE

System architecture
In development
Vehicle model and control allocation
In development
PCB
In design
Reference firmware
Planned on development hardware
Fabrication
Not yet
Bench validation
Not yet
Flight validation
Not yet
integrate with the proven set prove standalone collapse into an integrated board PROGRAMME POSITION no board fabricated NOT STARTED FABRICATION BENCH VALIDATION FLIGHT VALIDATION method · not a schedule

Method

Hardware risk is to be retired through bounded checkpoint boards.

  • prove standalone
  • then integrate with the proven set
  • then collapse into an integrated board

the pattern repeats, it does not end at a summit

Programme positionon the ground at the base of the first step · no board fabricated

Not startedFabrication · Bench validation · Flight validation

method · not a schedule

Start open.

Prove it in the field. Earn the design-in.

Compute can degrade. Control must not.

Request a briefing Explore ENKI AI Space Studio

Note

ICARUS Reaper is HawkLogic’s uncrewed-aircraft line: a vehicle-adaptive avionics module architected to run ICARUS ReaperOS, the aerial-avionics OS built on the ICARUS OS Core lineage. Mark I is its first platform, a pre-fabrication engineering prototype in active development. Performance, qualification and availability are stated only as evidence lands. All HawkLogic products →

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