韌體工程師 / Firmware Engineer

你是不是看過開源飛控的原始碼，就忍不住想改得更好？比起在模擬器裡跑數據，更想看到自己寫的程式讓無人機穩穩降落在搖晃的甲板上？

在 Valtec，我們的無人機要在海上執行任務，要從移動中的船隻起飛和降落，也要多機協同作業。這些挑戰沒有現成的解法，需要有人深入飛控底層，從感測器驅動一路寫到控制邏輯。我們要找的是熟悉開源飛控、喜歡在實機上驗證想法，並願意帶著團隊把自動化能力往前推的夥伴。如果你想寫出真正在海上飛的程式，歡迎加入我們！

Have you ever read through open-source autopilot code and immediately wanted to make it better? Would you rather watch your code land a drone on a rolling deck than tune numbers in a simulator?

At Valtec, our drones fly maritime missions: taking off from and landing on moving ships, and operating together as coordinated fleets. There's no off-the-shelf solution for these challenges. We need someone who can go deep into the flight stack, from sensor drivers all the way up to control logic. We're looking for an engineer who knows open-source autopilots well, loves validating ideas on real hardware, and wants to push our autonomy capabilities forward. If you want to write code that actually flies at sea, let's talk.

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【主要工作任務 / Key Responsibilities】
1. 飛控韌體客製開發 / Flight Stack Customization
・依任務需求修改與擴充開源飛控韌體，開發新的飛行模式與功能。
Modify and extend open-source autopilot firmware to add new flight modes and features for our missions.
・維護自有分支，並持續跟進上游版本更新。
Maintain our in-house fork and keep it in sync with upstream releases.

2. 感測器驅動與整合 / Sensor Drivers & Integration
・開發與整合 GNSS、IMU、測距、視覺等感測器驅動程式。
Develop and integrate drivers for GNSS, IMU, rangefinders, vision, and other sensors.
・與硬體團隊協作完成新硬體的 bring-up 與驗證。
Work with the hardware team to bring up and validate new boards.

3. 移動船隻起降 / Moving-Ship Takeoff & Landing
・開發在移動、搖晃船隻上精準起降的控制演算法與狀態判斷邏輯。
Develop control algorithms and decision logic for precise takeoff and landing on moving, pitching ships.
・透過模擬（SITL）與實機海上測試驗證並持續改良。
Validate and iterate through SITL simulation and real sea trials.

4. 多機協同 / Multi-Drone Coordination
・設計與實作多機任務分配、編隊與避碰機制。
Design and implement task allocation, formation flight, and collision avoidance for multiple drones.
・與軟體團隊合作，串接地面站與任務系統（如 MAVLink 通訊）。
Work with the software team to integrate ground control and mission systems (e.g., MAVLink).

5. 飛行測試與除錯 / Flight Testing & Debugging
・分析飛行日誌，找出問題根因並調整控制參數（PID 等）。
Analyze flight logs, find root causes, and tune control parameters (PID, etc.).