Consulting for UAV and Robotics Teams
I help teams build and stabilize flight-critical C++ systems. If your codebase touches drones, navigation, or real-time video and something isn’t working the way it should, I can probably help.
What I Help With
- Flight-critical C++23 systems – low-latency, zero-overhead, safety-constrained code for avionics and edge hardware
- ROS 2 and PX4 integration – sensor fusion, custom airframes, EKF2 tuning, offboard control
- GStreamer and Jetson pipelines – zero-copy video, shared memory, NVMM, latency debugging
- CI, testing, and build infrastructure – Docker-based workflows, sanitizers, SITL, fuzz testing
Example Engagements
GPS-denied VTOL navigation – Designed and implemented a fiber optic + monocular vision fusion algorithm for a tethered quad-tailsitter drone. Sub-meter position accuracy over 3.3km in PX4 SITL. 330+ tests, fully Dockerized.
GStreamer shared memory bugs on Jetson – Found and fixed four upstream bugs in GStreamer shmsink/shmsrc (race condition, use-after-free, fd leak, exit code). Patches submitted to freedesktop.org GitLab.
ROS 2 core performance – Fixed O(N^2) entity addition in rclcpp CallbackGroup (71x speedup) and a deadlock in TimeSource. Both merged upstream.
Availability
Available for consulting and contract work – remote or on-site.
Email: me@pavelguzenfeld.com | GitHub: PavelGuzenfeld | LinkedIn: pavelguzenfeld