/ ├── CAD/ # Fusion 360 .f3d files for rocket and launcher ├── Firmware/ │ ├── Rocket/ # ESP32 flight controller firmware │ └── Launcher/ # Launcher sensor and telemetry firmware ├── Simulation/ # OpenRocket .ork simulation files └── Documentation/ # System flow diagrams, BOM, specs cpp #include <Wire.h #include <MPU6050.h #include <ESP32Servo.h MPU6050 imu; Servo canardPitch; Servo canardYaw; // PID state float pitchIntegral = 0, yawIntegral = 0; float prevPitchErr = 0, prevYawErr = 0; const float Kp = 1.2f, Ki = 0.01f, Kd = 0.4f; const int SERVO CENTER = 90; const int SERVO RANGE = 30; // ±…