Welcome to the Elcano autonomous tricycle project!
Please see:
http://www.elcanoproject.org/

The Elcano Project is an autonomous vehicle control system that runs on a stack of microprocessors, with no operating system and no machine learning.
The Elcano/Elcano repository  used to hold everything, but it is deprecated as of June 2, 2019. 
Elcano/old_elcano has not been updated since June 2018. It was the previous version of Elcano/elcano.
All future files should go into the repository for the specific microprocessor. Files that span more than one processor are kept in Elcano/General. The other repositories are:
Elcano/LowLevel – Drive by wire
Elcano/HighLevel – Localization, Route Finding and Pilot
Elcano/Sonar – Detects obstacles from ultrasonic sensors
Elcano/Sweep – Scanse Sweep Lidar for Obstacle Detection
Elcano/QDED – Quadrature Edge Detectors for machine vision
Elcano/Transceiver – Transmit and receive boards for remote control option

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To get started, fork and clone the repository:
https://github.com/elcano/elcano

Parameters and settings for each trike are defined in:
/libraries/Settings/Settings.h

Place the contents of the libraries folder into your libraries folder under
Arduino/libraries

The repository includes examples in the file:
Arduino/libraries/Settings/SettingsTemplate.h

Only libraries/Settings/SettingsTemplate.h should be committed in the
repository -- the Arduino/libraries/Settings/Settings.h file is site-specific.

-- Copy
   Arduino/libraries/Settings/SettingsTemplate.h
   to
   Arduino/libraries/Settings/Settings.h
-- Give your trike a different VEHICLE_NUMBER value.
-- Add your own trike's settings, following the examples.
-- Put your settings in a conditional for your new VEHICLE_NUMBER value.

When you pull in updates from the main repository, look for changes in
SettingsTemplate.h and if needed merge them with your own Settings.h.
Especially watch for new trike parameters used in sketches.

Sketches that need these settings should
#include <Settings.h>
*after* all other includes or definitions that are used in Settings.h.