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I will develop imu sensor fusion pid closed loop autonomous robot control firmware
UAV Firmware Engineer for PX4 ArduPilot Betaflight ESC and Motion Control
I develop professional embedded firmware for drones UAVs robotics and motion control systems. My expertise covers PX4 ArduPilot Betaflight INAV flight controller customization sensor integration Drone...
About this Gig
Building a self-balancing robot, autonomous rover, or motion platform that needs rock-solid orientation and smooth control?
I develop professional embedded firmware focused on IMU sensor fusion, PID closed-loop control, and autonomous robot behavior.
What I deliver:
Reliable IMU sensor fusion (complementary, Madgwick or Mahony) for stable orientation tracking
Quaternion or Euler output with drift compensation and bias handling
Tuned PID / PD closed-loop control for balancing, heading hold, speed and position
Modular state machines for start-up, balance, motion, obstacle reaction and failsafe
Integration of ultrasonic, ToF or IR obstacle sensing
Servo, stepper or DC motor sequencing with smooth acceleration profiles
Clean, real-time code ready for STM32, ESP32, Arduino and similar MCUs
Optional ROS-adjacent serial interface for higher-level navigation nodes
Most projects fail because of noisy IMU data, poorly tuned loops, or missing safety logic. I focus on the practical details that make the robot actually work in the real world: proper filtering, gain guidance, vibration resistance and safe motor cut-off.
FAQ
Do you implement real IMU sensor fusion or just raw accelerometer and gyro data?
Yes. I implement proper IMU sensor fusion using complementary, Madgwick or Mahony filters for stable orientation tracking and reduced drift.
. Can you develop PID closed-loop control for self-balancing or autonomous robots?
Yes. I design and tune PID / PD closed-loop controllers for balancing, heading hold, speed and position control on real hardware.
Do you support state machines and autonomous behavior logic?
Yes. I create modular state machines covering start-up, balance, motion sequences, obstacle reaction and safe failsafe modes.
Which microcontrollers and motors do you work with?
I develop firmware for STM32, ESP32, Arduino and similar platforms, controlling DC motors, steppers and servos with smooth profiles.
. Can the firmware interface with ROS or higher-level navigation?
Yes. Premium packages include a clean ROS-adjacent serial interface so your robot can publish orientation and motion data to higher-level nodes.
Will I receive tunable gains and documentation?
Yes. You receive well-structured source code, recommended starting gains, and clear notes on how to fine-tune the fusion and PID loops for your mechanics.
