UAV fleet control stack
Multi-year development and maintenance of the full control stack for a fleet of UAVs, built for a research institute (under NDA, described here in anonymized terms).
Context
A research institute needed a reliable, extensible control stack to operate a fleet of UAVs and to integrate multiple vehicle types under a common framework. The engagement is a long-term development effort, ongoing over several years, covering both the initial build and continuous maintenance of the stack.
What was delivered
A modular control system delivered up to the simulation environment, with deployment on real hardware handled by the client's own teams.
- Multiple controllers implemented — autopilot-based, PID with gravity compensation, and MPC.
- Core built as a standalone C++ library with a ROS2 wrapper on top.
- Structured C++ packages enabling integration of multiple vehicle types.
- Reliable state machine (FSM) governing flight modes and transitions.
- Parameter and log management for reproducible tuning and analysis.
- Validation in Gazebo simulation before hand-off.
Tech stack
ROS2 · PX4 · C++ · Python · Gazebo