UAV Software Development (2022-Present) at Nearthlab
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Architect
PX4 Customization for a Newly Developed Drone (AiDEN)
Aimed to build a sustainable software system that can arbitrarily design and modify components to effectively meet the system requirements.
In the original PX4 architecture, the controller modules select setpoints to use based on the flags in 'vehicle_control_mode'.
In the customized architecture, the setpoint flow is simplified and the position/attitude controllers are modularised. The commander module determines the setpoint to the position controller depending on the flight mode.
In the original PX4 architecture, inter-related enum/mode/state are managed by different modules, which is confusing and hard to modify.
In the customized architecture, only "Flight Mode", managed by the commander module, determines the flight behavior of the drone.
Flight Control Abstraction for NearthWIND Mobile
This app is supposed to work with many different commercial drones.
Designed and implemented the architecture including the API that abstracts the mission management and flight control functionalities.
By creating this layer of abstraction, the high-level control logic is separated from the low-level hardware-specific commands.
This allows our system to support a wide range of drones and potentially expand to include new models as they are released, without major changes to the existing system.
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