I worked at NRT for a duration of 2 years, and was primarily into 3 projects - Swarm Simulations, weapon-bay and HAPS. My primary responsibilities were, including, but not limited to. 

• Modifying PX4 source code to include algos, custom Mavlink packets drivers and streaming across multiple projects and vehicle types, VTOLs, fixedwings, multi-copters, and a pseudo-satellite(s). 

• Writing custom Mavlink packets for universal use, syncing network of PX4, weapon bay, OBC, and GCS.  

• Operations for deploying live ordinance with the Indian military, simulations and extensive testing. 

• HITL swarm simulation stack on JSBSim, Gazebo, xPlane, Flightgear, assembly and design of a 5 system swarming tower/rig of FCU + OBC, this rig helped verify and simulate features for ease of development.    

• Responsible for benchmarking simulators, FCUs, system architectures, sensor peripherals and procurement.  

• Served as a cross-functional engineer overseeing development, operations and testing across 3 projects.

I was responsible for FCU Integration and tech management with the flight controller VERONTE and the airframe :   

• Helped set up a new vehicle in PX4 for a custom eVTOL configuration and simulation.  

• Working in loop with VERONTE autopilot for configuring 50kg and 200kg payload eVTOL.  

• Running Hardware-in the loop simulation with XPlane and VERONTE flight controller.  

• Integration of sensors, cameras, radio communication and other peripherals with autopilot.

• Responsible for benchmarking flight controllers, system architectures and procurement

 In 1 year of my work at Pravaig I primarily looked into developing a FreeRTOS based Gateway, IVN network managements, and ADAS experiments on the MK-II which was being built

• Responsible for developing In vehicle gateway, integration with a linux system.

• Writing firmware for CAN-CAN-Ethernet real-time routing using FreeRTOS, LWIP stack, OTA firmware updates, vehicle threat modeling, and HSM module implementation (experimental). 

• Writing a TCP/IP server and interfacing to and from the central gateway, lookup tables and .dbc files conversion written in Python and C/C++.

• Benchmarking and procurement of ADAS peripherals, sensors, experimenting open source AD repositories. 

• Development primarily on Power-arch boards by NXP for central gateway and NVIDIA Drive Xavier (Hardened automotive Grade Linux-box) as autonomous driving controller

Worked for a duration of 1.5 years, as a part-time research student / intern, I worked on stabilizing the drone feed and motion tracking on a moving platform - Gimbal + camera + CV. 

• Development of object recognition algorithms, coordinate extraction & filtering. (YOLO, RCNNs, Masks).

• Alexmos based GoPro Gimbal, Buggy interface, setup, wiring, Mechanical balancing, power distribution, actuation & control.

• Wireless streaming -FFMPEG, RTMP, RTSP. RT Radio, data acquisition for future RNNs and ML models.

• Real-time Kalman filtering and sensor fusion of IMU values, SLAM, and GPS values for drones.

• Implementation of camera calibration on OpenCV and point cloud outlier rejection using RANSAC.

• Integration with the existing code flow for overlaying AR graphics in IPL Cricket live matches.