# IFL Overview

For a high level description of the IFL and its capabilities, see the IFL website "[About the IFL](https://ifl.ae.gatech.edu/about-the-ifl/)" page.

**What tools the IFL provides:**

* A 55 camera Vicon system distributed across two rooms that can be used separately or combined.
* Two GTAE-IT managed Windows 10 PCs (one in each IFL room) equipped with high end network cards for interfacing with the Vicon hardware, and installed with Vicon Tracker.
* A TP Link WiFi router connected to the IFL1 PC for connecting remote devices to the IFL network.
* A Github repo containing multiple options for connecting to the IFL network and getting Vicon data onboard your vehicle.

**What the IFL does not provide:**

* Vicon markers (these can be bought at [B\&L Engineering](https://bleng.com))
* Any robots (ground or aerial) or associated hardware
* Any hardware or software for implementing specific functionality (such as radio links, microcontrollers, or robot command/control software)

**What tools the IFL will be adding in the future:**

* A multi-purpose parameter identification rig for measuring a robot's mass, 3D center of mass, and mass moment of inertia \[in progress].
* A 3DOF dynamic gimbal rig for restrained flight, enabling safe initial gain tuning \[in progress].
* A static thrust/torque rig for characterizing the mechanical and electrical performance of an individual motor/prop or an entire airframe up to a certain size.
* Additional software capabilities

