Research Blog

Notes & Tutorials.

Explanatory pieces on important topics in robotics and control systems theory, things I wish had been explained to me in a particular manner, and topics I find interesting that are related to my field.

[In progress] Understanding PX4 Autopilot and Offboard Control via ROS2

PX4

quadrotor

ROS2

hardware

tools

software

implementation

Will write about PX4 flight stack and how to utilize ROS2 for offboard control with novel control algorithms. Also showcasing my open-source modular ROS2-PX4 offboard flight package for control algorithm implementation with modular platform, trajectory, and control setups and my custom logger package.

Oct 15, 2025

Evanns Morales-Cuadrado

Understanding Quadrotor Dynamics and Control

dynamical systems

control theory

quadrotor

geometric control

modeling

A practical overview of modeling, coordinate frames, and control-relevant dynamics of the quadrotor UAV.

Sep 29, 2025

Evanns Morales-Cuadrado

Newton-Raphson Flow: From Iteration to Continuous Control

control theory

iterative methods

dynamical systems

The Newton-Raphson flow tracking controller, its derivation from the iterative root-finding method, and its adaptation for dynamical systems using output prediction.

May 22, 2025

Evanns Morales-Cuadrado