ArduRover Mission Planner Upgrade

I’m running an ArduRover platform on top of a fully custom-built mission planner and would like an experienced hand to refine two specific areas: route optimization and waypoint management. The core code already communicates with the vehicle via MAVLink, but the logic that selects, orders, and dynamically adjusts waypoints is still basic.

Here’s what I need from you:
• Analyse the present planner codebase (Python and C++ modules) and map out its current decision-making flow.
• Design and implement smarter route-selection algorithms that minimise distance, energy use, and turning radius while respecting geo-fences.
• Build an intuitive waypoint-handling layer so I can insert, reorder, or delete waypoints on the fly and have those changes propagate safely to the rover.
• Validate everything in SITL first; then, once it behaves, walk me through bench tests on the physical rover.

There’s no immediate deadline, so I prefer clean, well-documented commits over quick hacks. If you’ve already built advanced planners for ArduPilot, ROS, or similar autonomous systems, you’ll feel at home here. Let’s push this rover’s autonomy a few steps further.
Here is the clean English version for copy/paste:

# Embedded Autopilot Developer Needed – ArduRover / MAVLink / Pixhawk (Bait Boat Platform)

We are developing a fully custom bait boat autopilot platform based on ArduRover and MAVLink communication.

The system already communicates correctly with Pixhawk hardware (Pixhawk 2.4.8 and custom Pixhawk-compatible boards), but we are looking for an experienced embedded/autopilot developer to help refine and expand the navigation intelligence and waypoint management system.

## Project Overview

The goal is to create a universal firmware/platform capable of working reliably with almost any bait boat configuration, including:

* Single motor + rudder systems
* Dual motor differential steering systems
* Various GPS + compass configurations
* Different hull sizes and propulsion layouts
* Standard and custom Pixhawk hardware

The platform must communicate correctly with ArduRover through MAVLink while providing advanced custom mission-planning logic.

## What We Need

### 1. Advanced Waypoint Management

Current waypoint handling is still basic.

We need:

* Dynamic waypoint reordering
* Intelligent route optimization
* Smooth path generation
* Automatic path correction based on heading and water movement
* Stable and accurate RTL (Return To Launch)
* Elimination of zig-zag movement while navigating to waypoints

### 2. Universal Boat Compatibility Layer

We want firmware capable of automatically adapting to:

* Different steering types
* Different compass orientations
* Different motor layouts
* Different Pixhawk versions
* Custom hardware boards

The objective is a “plug & configure” behavior similar to commercial bait boat autopilot systems.

### 3. MAVLink + Custom Mission Planner Integration

The mission planner interface is fully custom.

Possible tasks include:

* MAVLink telemetry optimization
* Parameter synchronization
* Real-time waypoint editing
* Mission upload/download
* GPS correction handling
* Improved failsafe systems

## Required Experience

We are looking for developers experienced in:

* ArduPilot / ArduRover
* MAVLink protocol
* Pixhawk hardware
* Embedded C/C++
* STM32 or ESP32 development
* GPS + compass calibration
* Autonomous navigation algorithms
* Mission planning systems

Experience with:

* Autonomous boats
* RC vehicles
* Marine robotics
* Bait boats

is a major advantage.

## Bonus Skills

The following are considered a strong advantage:

* LUA scripting for ArduPilot
* UDP/WiFi telemetry
* Android app integration
* Custom firmware development
* Route optimization algorithms
* PID tuning for water vehicles

## Hardware Used

* Pixhawk 2.4.8
* Custom Pixhawk-compatible boards
* ESP32 telemetry modules
* GPS + Compass modules
* WiFi / UDP communication systems

## Long-Term Collaboration

We are not looking for a one-time fix.

The goal is to build a complete bait boat autopilot ecosystem, and we are looking for long-term collaborators.

Please send:

* Similar projects you have worked on
* GitHub / portfolio
* ArduPilot experience
* Estimated hourly rate or project pricing