differential-thrust

ROS 2 autonomous 2D spaceship controller using differential thrust, PD guidance, wind compensation, custom messages and services, RViz visualization, and a physics simulator.

A 61 g RC plane with no servos and no control surfaces, steered only by differential thrust. ESP8266 + MPU6050 flight controller with a cascaded roll PID, ESP32 UDP → ESP-NOW ground station, phone joystick and over-the-air PID tuner.

STM32G431RB catamaran boat controller: S.BUS (RadioLink R9DS) input, arcade differential thrust mixer, dual bidirectional ESC PWM, failsafe

GPS guided autonomous boat using Arduino Nano, NEO-6M, HMC5883L, and differential thrust control.

Technical presentation on acceleration control, transition handling, and constrained control allocation for a differential-thrust quad-plane UAV.