Work Experience
Embedded Software Engineer, NRK - Embedded Linux/STM32 video and control platform
Duration: Oct. 2025 - now
Summary: Development of an embedded Linux and STM32 based video and control platform integrating low-latency video pipelines and flight stack for advanced control and telemetry. The project involves creating end-to-end application architecture and custom firmware for sensor acquisition and peripheral control.
Responsibilities:
- Creating end-to-end application architecture across Embedded Linux companion computer and STM32 co-processor
- Designing and implementing low-latency video pipeline based on GStreamer (capture, encode, RTP transport, sink)
- Writing custom Linux kernel drivers (V4L2, I2C, SPI, GPIO) and device-tree overlays for the carrier board
- Writing custom STM32 firmware modules for sensor acquisition, peripheral control and time synchronization
- Integrating PX4 flight stack with the Linux companion over MAVLink and shared-memory IPC
- Implementing TCP/IP-based command, telemetry and video control channels with reconnection / back-pressure logic
- Writing high efficiency C/C++ multi-platform code (Linux user-space, kernel modules, STM32 bare-metal)
- Implementing new features for the firmware
- Integrating new libraries
- Maintaining API layer between Linux services and STM32 firmware
- Debugging and bug-fixing the firmware
- Debugging Linux kernel and memory allocation (kmalloc/DMA-coherent buffers, page faults, OOM analysis)
- Profiling and tuning end-to-end video latency with GStreamer tracers, perf, ftrace and custom timestamp probes
- Diagnosing TCP/IP performance issues with Wireshark, tcpdump, ss and kernel networking counters
- Tracking down race conditions and deadlocks with GDB, ThreadSanitizer, strace and ltrace
- JTAG/SWD on-target debugging of STM32 with OpenOCD and SEGGER J-Link, plus SystemView for RTOS tracing
- HW-level debugging with oscilloscope and logic analyzer (SPI/I2C/UART bring-up, signal integrity)
- Reverse engineering of vendor binaries and undocumented register behavior
- Writing unit-tests and on-target integration tests
- Automating the build process (cross-compilation, Yocto/buildroot recipes, CI pipelines)
Technologies: C, C++, Python, CMake, Make, Bash, Embedded Linux, Yocto, buildroot, Linux kernel modules, device tree, STM32 (HAL, LL, bare-metal), FreeRTOS, GStreamer, V4L2, custom kernel drivers, PX4, MAVLink, TCP/IP, UDP, RTP, RTSP, GDB, OpenOCD, JTAG/SWD, SEGGER J-Link, SystemView, Wireshark, tcpdump, strace, ltrace, perf, ftrace, Valgrind, Oscilloscope, logic analyzer, ArduPilot.
Embedded Software Engineer, ArduPilot porting and custom IMU drivers
Duration: Mar. 2025 - Sep. 2025
Summary: Porting ArduPilot firmware to custom STM32 hardware platform including board bring-up and development of custom IMU drivers integrated into the ArduPilot sensor stack. The project focuses on sensor calibration, bias estimation, and integration with sensor fusion pipelines.
Responsibilities:
- Porting ArduPilot firmware to a custom STM32-based hardware platform (board definition, HAL, ChibiOS configuration)
- Board bring-up: clocks, power sequencing, bootloader, peripheral mapping, DMA channels
- Writing custom IMU drivers (SPI/I2C) integrated into the ArduPilot AP_HAL/AP_InertialSensor stack
- Implementing sensor calibration, temperature compensation and bias estimation routines
- Integrating drivers into EKF/sensor fusion pipeline and validating against reference IMUs
- Writing high efficiency C/C++ code for STM32/ChibiOS
- Implementing new features for the firmware
- Integrating new libraries
- Maintaining API layer between HAL, drivers and vehicle code
- Debugging and bug-fixing the firmware
- Real-time debugging with GDB over JTAG/SWD, OpenOCD and SEGGER J-Link
- RTOS-level tracing with SEGGER SystemView (task switches, ISR latency, priority inversion)
- Diagnosing IMU noise/bias with Allan variance analysis and oscilloscope captures of SPI lines
- Optimizing DMA-based sensor reads and IRQ handlers to reduce CPU load and jitter
- Analyzing flight logs (DataFlash/.bin) to correlate firmware behavior with sensor anomalies
- Reverse engineering vendor IMU register maps and reference drivers from datasheets
- Writing unit-tests and HIL/SITL tests for new drivers and ported subsystems
- Automating the build process (waf, custom board targets, CI)
Technologies: C, C++, Python, CMake, Make, Bash, waf, STM32 (HAL, LL, bare-metal), ChibiOS, ArduPilot, PX4, SPI, I2C, UART, CAN, DMA, JTAG/SWD, MAVLink, SITL, HIL, GDB, OpenOCD, SEGGER J-Link, SystemView, oscilloscope, logic analyzer, TCP/IP, UDP.
Embedded Software Engineer, Automatic steering algorithm for FPV (ArduPilot based)
Duration: Apr. 2024 - Feb. 2025
Summary: Development of an automatic steering algorithm for FPV drones based on ArduPilot firmware, including simulation environment setup and multi-platform firmware development to enhance autonomous flight capabilities.
Responsibilities:
- Creating application architecture
- Setting up simulation environment (Gazebo, AirSim, Python Client, C++ binary)
- Writing high efficiency C++ multi-platform code
- Implementing new firmware features and integrating libraries
- Maintaining API layer
- Debugging and bug-fixing firmware and Linux kernel
- Reverse engineering and writing unit-tests
- Automating build process
Technologies: C, C++, Python, CMake, Make, Bash, Linux Kernel, ZMQ, PyMavLink, ArduPilot.
Embedded Software Engineer, Automatic steering algorithm for FPV (INav based)
Duration: Feb. 2023 - Mar. 2024
Summary: Development of an automatic steering algorithm for FPV drones based on INav firmware, including simulation environment setup and multi-platform firmware development to improve autonomous navigation.
Responsibilities:
- Creating application architecture
- Setting up simulation environment (AirSim, Python Client, C++ binary)
- Writing high efficiency C++ multi-platform code
- Implementing new firmware features and integrating libraries
- Maintaining API layer
- Debugging and bug-fixing firmware and Linux kernel
- Reverse engineering and writing unit-tests
- Automating build process
Technologies: C, C++, Python, CMake, Make, Bash, Linux Kernel, ZMQ, MSP, INav.
Embedded Software Engineer, Custom communication protocol for FPV
Duration: Feb. 2022 - Mar. 2023
Summary: Development of a custom communication protocol for FPV drones, focusing on high efficiency STM controller firmware and integration of new features to enhance communication reliability and performance.
Responsibilities:
- Writing high efficiency C code for STM controller
- Implementing new firmware features and integrating libraries
- Maintaining API layer
- Debugging and bug-fixing firmware and Linux kernel
- Reverse engineering and writing unit-tests
- Automating build process
Technologies: C, C++, Python, CMake, Make, Bash, Perl, AWK, GTest.
Embedded Software Engineer, Automotive ECU based on AUTOSAR stack
Duration: Feb. 2021 - Feb. 2022
Summary: Development and maintenance of firmware for automotive ECU based on AUTOSAR stack, focusing on feature implementation, debugging, and integration of new libraries to meet automotive standards.
Responsibilities:
- Implementing new firmware features and integrating libraries
- Maintaining API layer
- Debugging and bug-fixing firmware and Linux kernel
- Reverse engineering and writing unit-tests
- Automating build process
Technologies: C, C++, Python, CMake, Make, Bash, Perl, AWK, GTest.
Embedded Software Engineer, Firmware for WiFi routers, based on OpenWRT
Duration: Jan. 2019 - Feb. 2021
Summary: Development and maintenance of firmware for WiFi routers based on OpenWRT, including feature implementation, library integration, and debugging to improve router performance and network capabilities.
Responsibilities:
- Implementing new features and integrating new libraries
- Maintaining API layer
- Debugging and bug-fixing firmware and Linux kernel
- Reverse engineering and writing unit-tests
- Automating build process
Technologies: C, C++, Python, CMake, Make, Bash, Perl, AWK, PHP, REST API, Node.js, HTML basics, CSS basics, TCP/IP, UDP, TLS, SSL, SCP, DHCP, DNS, ARP, Linux networking and network devices APIs, IPC, Wireshark, GDB, Linux, Docker, VMWare, QEMU.
Embedded Software Engineer, WebRTC communication server
Duration: Sep. 2018 - Jan. 2019
Summary: Development and maintenance of a WebRTC communication server, focusing on server-side feature implementation, communication maintenance, and debugging to ensure reliable real-time communication services.
Responsibilities:
- Implementing new features on the server side
- Maintaining and upgrading the communication
- Maintaining API layer
- Debugging and bug-fixing
- Writing unit-tests
- Automating build process
Technologies: C, C++, Python, CMake, Make, Bash, Perl, AWK, PHP, TCP/IP, UDP, TLS, Linux networking and network devices APIs, IPC, Wireshark, GDB, Linux, Docker, VMWare.
Embedded Software Engineer, IoT solution, based on LWM2M protocol
Duration: Mar. 2018 - Sep. 2018
Summary: Development of an IoT solution based on the LWM2M protocol, including implementation of FOTA, custom LWM2M objects, server support, and custom communication protocols to enable efficient device management.
Responsibilities:
- Implementing new features including FOTA and custom LWM2M objects
- Supporting custom server and communication protocols
- Maintaining API layer
- Debugging and bug fixing
- Writing unit-tests
Technologies: C, C++, Python, CMake, Make, Bash, TCP/IP, UDP, TLS, SSL, LWM2M, Linux networking and network devices APIs, Wireshark, GDB.
System Engineer, Computer Center Hardware diagnostics and repairing
Duration: 2015 - 2017
Summary: Providing hardware diagnostics and repair services at a computer center, ensuring reliable operation and maintenance of computer hardware systems.
Responsibilities:
- Diagnosing hardware issues
- Repairing computer hardware
Education
- Polytechnic National University
Semiconductor Electronics. Master degree
2011 - 2017
Upstaffer since June, 2026
