F405 flight stack • INAV • GPS/GLONASS • ELRS • Full avionics integration & sensor fusion tuning

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What I Built

This aircraft started as a blank frame and became my most stable long-range quad’s to date. Every part of the flight system-wiring, avionics, filtering, and control tuning was engineered, tested, and optimized by hand. The goal wasn’t just to build a drone, but to build a full-stack, long-range UAV platform with reliable navigation, clean sensor data, and predictable autonomous behavior.

Flight Stack

• F405 controller running INAV
• GPS/GLONASS, magnetometer, barometer
• ELRS receiver for long-range control
• FPV camera + Analog VTX for live telemetry

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My Engineering Contributions

✔ Full Avionics & Power System Integration

I designed the entire electrical and sensor layout:

• Power distribution & current handling
• ESC integration
• Isolated IMU mounting to eliminate frame resonance
• Clean grounding strategy to avoid gyro noise and brownouts

✔ PID, Filtering, and Sensor Fusion

Tuned the entire INAV control loop:

• Custom PID profiles
• Filter coefficients (LPF, D-term, gyro filtering)
• Dynamic notch filters
• Magnetometer calibration
• GPS filtering & initialization behavior

✔ Navigation & Autonomy

Configured and validated:

• Failsafes
• Return-to-Launch
• Geofencing
• Telemetry logic
• Flight mode transitions

✔ Blackbox Diagnostics & Control Optimization

I ran deep diagnostics to tune out problems:

• Gyro noise profiling
• Motor harmonics & vibration analysis
• D-term and P-term refinement
• Noise isolation and dynamic notch placement
• High-throttle oscillation elimination

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Why This Build Matters

This wasn’t just assembly — it was end-to-end UAV engineering.

The 10-inch platform taught me how:

• noise moves through a large frame
• sensor fusion reacts under long-range flight stresses
• GPS + magnetometer + barometer interplay under INAV
• to tune an aircraft for stability, efficiency, and autonomy simultaneously

It’s the closest thing to a “mini airframe engineering project” I’ve done, and it directly sharpened my skills in:

• avionics integration
• long-range reliability
• noise mitigation
• dynamic control tuning
• navigation/autonomy configuration

Those same skills carry straight into robotics, manufacturing automation, and systems engineering.