Hi snitchai,
what leads you to the conclusion that my project is not ready to implement and test? I have it up and running along with a full implementation of the original Redtail project on Arducopter plus a bunch of enhancements.
In case you ran into any problems please open an issue in my git.
I created it for the TX2 but nothing in the code should prevent it from running on a Nano.
When you can communicate with Arducopter through mavlink and even arm the drone as you described in your paper, then the issue is likely with the drone. I suggest to first verify your logs for any prearm check failures.