Autavia · 2023
Autonomous multirotor flight platform
A multirotor integration project connecting PX4 flight control, onboard computing, visual-inertial sensing, trajectory generation and closed-loop control.
Project Overview
Autavia Type 4 was developed as a course-based multirotor prototype. The project connected sensing, state estimation, planning and low-level flight control within one onboard workflow.
System Integration
PX4 provides flight control, ROS Noetic coordinates software nodes, MAVROS bridges the autopilot, and the onboard computer runs perception and planning.
VINS-Fusion combines visual and inertial observations for local pose estimation.
EGO-Planner produces collision-aware local trajectories from map and state inputs.
px4ctrl converts trajectory references into commands for the flight-control stack.
Validation Workflow
Simulation and recorded experiments were used to check node communication, state feedback, trajectory continuity and control response before further flight work.
Engineering Outcome
The project established practical experience in ROS-based integration, coordinate-frame management, sensor calibration and flight-stack debugging.
Connected knowledge
An experiment using GPS and ADS-B information to derive relative position, distance, bearing and elevation for aerial conflict awareness.
Autonomous Systems · 2026An engineering note on the shift from stabilising an aircraft to coordinating a complete mission system.
