Flight software
PX4 contributions
My contributions to the PX4 autopilot and GPS drivers. The work includes reproducing failures, proposing focused fixes, and adding regression tests.
Widths = bytes / 280. Dashed segment = rejected chunk. In the exact-fit case, the final chunk is the 13-byte signature of a full signed frame.
The example buffer already contains 267 bytes and has capacity 280. The 13-byte signature is an exact fit. Segment widths are proportional to bytes.The original condition is _buf_fill + packet_len < sizeof(_buf). At an exact fit, 280 < 280 is false, so the chunk is rejected.The merged fix uses <=. An exact 280-byte fit is accepted; a 281-byte write is still rejected.Compare the under, exact, and over-capacity cases. This reproduces the boundary condition changed in PX4 pull request #29164; it does not simulate the whole autopilot.
PX4 #29164 · merged change ↗- Bytes: The example buffer already contains 267 bytes and has capacity 280. The 13-byte signature is an exact fit. Segment widths are proportional to bytes.
- Before: The original condition is _buf_fill + packet_len < sizeof(_buf). At an exact fit, 280 < 280 is false, so the chunk is rejected.
- After: The merged fix uses <=. An exact 280-byte fit is accepted; a 281-byte write is still rejected.
- Boundary: Compare the under, exact, and over-capacity cases. This reproduces the boundary condition changed in PX4 pull request #29164; it does not simulate the whole autopilot.
Working in an existing system
The focus is on small, reproducible failures: finding an input that exposes a bug, changing the relevant code, and writing a regression test where practical.
These are contributions to PX4’s projects. Maintainers review and decide what gets merged.
Source and review
Selected merged fixes
Verification has a boundary
Some investigations use t models and compiled comparisons for selected routines. Those checks depend on stated assumptions and input bounds; they do not establish correctness of the complete autopilot or behavior in flight.
The pull requests contain their review history, tests, and AI-assistance disclosures.