Everything I learned contributing 6 PRs to PX4-Autopilot in a single session — from Docker-based builds and sanitizer workflows, through uXRCE-DDS session debugging and MAVLink signing analysis, to SITL integration testing. Real bugs, real fixes, real build output.
Eigen’s .inc plugin headers were read by Doxygen but never preprocessed as C++ — meaning macros like EIGEN_PARSED_BY_DOXYGEN were silently ignored. Here’s how I verified it in Docker and what the one-line fix looks like.
I submitted a Modified Gram-Schmidt QR decomposition to Eigen and a maintainer asked: why? Here’s the benchmark data that answered the question.
How a missing overflow check in Eigen’s TensorUInt128 division operator caused an infinite loop for any dividend above 2^127 — and the one-line fix that stopped it.
A performance optimization in Eigen’s fill path assumed all scalar types are equal. GCC’s libstdc++ disagreed — and AutoDiffScalar paid the price.
PX4’s MAVSDK tests were migrated to SIH but the ROS integration tests were left behind on Gazebo Classic. This post documents the complete migration — the config changes, the CI pipeline surgery, the parameter name pitfall that silently broke GlobalPositionInterfaceTest, and how to reproduce the full 14-test suite locally in Docker.
How a GCC 13 false-positive -Warray-bounds warning in Eigen’s TensorContraction led to a lesson about if constexpr, C++14 portability, and the right way to suppress compiler warnings in a large codebase.