We didn’t develop it. We are a user. It is on the PX4 stack. It plans to be the world skill competition drone. But due to C19, it has shelf the idea for a few years already. It uses Aruco map for indoor navigation. It uses a Pi as the companion computer. I am trying to set up a similar reusing the camera hardware for Arducopter but now stuck at the camera software interface to the openCV. I am too lazy to redo the various calibrations, hoping to reuse their calibrated data. I am using ROS 2 Humble.