Aerial Robotics & Agentic Software Engineering
Hello! I’m Wil Boayue, a software engineer exploring aerial robotics and agentic software engineering.
On this blog, I share my journey building autonomous drones and intelligent software agents.
nanocode: a 250-line Claude-style coding agent
Inside nanocode, a Claude-style coding agent in ~250 lines. A few tools (read, write, grep, bash) plus an LLM produce surprisingly capable behavior.
RealFlight Bridge: high-fidelity testing for drone flight controllers
Introducing RealFlight Bridge, a Rust library for testing flight control algorithms in the RealFlight simulator. Learn how it enables safe validation of autopilot code before deploying to real hardware.
Behavior trees: simplifying autonomous decision-making
Explore behavior trees, a modular and reactive alternative to finite state machines. Learn how they simplify control logic in autonomous systems like drones.
Affordable flight controllers for Rust development
I explore cost-effective flight controller options for embedded Rust projects. I evaluate four main contenders: Teensy 4.0, SpeedyBee F405, Matek Wing H743 V3, and Holybro Kakute H743.
Implementing a PID controller in Rust
PID controller for drone attitude stabilization in Rust: the equation, the code, the tests, and the unit-mismatch bug that sent my drone haywire.