I build robotics software that turns sensor data, flight logs, and real hardware behavior into inspectable engineering evidence. My current work connects three practical areas: UAV systems: PX4 and ArduPilot telemetry, flight-log analysis, diagnostics, and ROS 2 integration. Ground robotics: ROS 2 mapping, AMCL localization, Nav2 navigation, and mission-level control on a real indoor mobile robot. AI-assisted engineering: reproducible evaluation and repair workflows for robotics and coding tasks.

Mission-level patrol and exploration overlay for Nav2 on a LEAP_ROS mobile base. I implemented the ROS 2 mission node, YAML waypoint routes, sequential NavigateToPose actions, bounded retries, timeout and cancellation behavior, operator services, JSONL event logging, and the experimental SE(2) B-spline controller.

The repository records one reviewed hardware-in-the-loop run: 8/8 indoor waypoints reached, 0 retries, 186.31 s. The README documents the boundary between my mission-layer work and reused base, vendor bringup, Nav2, AMCL, SLAM, and firmware components.

A Streamlit-based flight-log analysis workspace for ArduPilot .bin and PX4 .ulg files. It uses pymavlink and pyulog to discover the messages, topics, and fields actually present in each log, then aligns selected signals into interactive Plotly time-series views with dual axes, range controls, and flight-mode context.

Users can select fields manually or ask an LLM to recommend relevant signals. Its two-stage Dispatcher / Analyst workflow generates diagnostic reports from field metadata, statistical summaries, and sampled time-series data, while raw logs remain local.

Recent work adds a RepoPilot evaluation harness, reproducible robotics fixtures, guided code-repair workflows, and Windows portable packaging. The repository also includes architecture documentation and 36 offline unit tests.

Telemetry dashboard for vibration analysis, PID/rate tracking, 3D trajectory visualization, and AI-assisted reports across PX4 and ArduPilot flight logs.

As of 2026-08-26, I have 13 PRs targeting external repositories: 5 merged, 7 open, and 1 closed without merge.

• ArduPilot wiki #7973 - archived legacy ODroid companion-computer pages.
• BossConsole #189 - fixed atomic publication of contained crash reports.
• QGroundControl #14862 - added troubleshooting guidance for the missing Actuators tab.
• ArduPilot wiki #7966 - corrected DroneCAN pool defaults.
• noop #552 - added Simplified Chinese Android localization.

• PX4-Autopilot #28245 - clarified ROS 2 VehicleCommand routing.
• PX4-Autopilot #28338 - aligned SITL and hardware UXRCE-DDS namespace conventions.
• PX4-Autopilot #28339 - restored Gazebo fallback targets when dependencies are unavailable.
• PX4/px4_ros_com #234 - fixed Covariance3d frame transformation and added regression coverage.
• DeepSeek-Reasonix #9282 - added per-model tool capability configuration.
• DeepSeek-Reasonix #9283 - allowed Git worktree metadata writes in the sandbox.
• DeepSeek-Reasonix #9284 - documented file-grained write paths and added regression coverage.

• PX4-GPSDrivers #227 - converted SBF heading covariance to accuracy.

• Motion Planning Notes - search-based, sampling-based, and kinodynamic planning for mobile robots.

Nav2 controller and costmap tuning, online mapping and frontier exploration, repeated-run evaluation, Raspberry Pi 4B deployment, PX4/ROS 2 integration, and constrained interfaces for agent-assisted robot tasks.

Python · C/C++ · ROS 2 · Nav2 · PX4 · ArduPilot · MAVLink · micro-ROS · pymavlink · pyulog · Streamlit · Plotly · Linux · Git

For robotics software, UAV tooling, or open-source collaboration, open an issue or reach me through GitHub.