Software Engineer

About the role

As a founding Software Engineer, you'll own the brain of the vehicle. Our vehicle has to fly to a search area, transition into the water, navigate underwater where GPS (Global Positioning System) doesn't work, search with sonar, and then transition back into the air to fly home. You'll write the software that makes each of those mission phases happen autonomously and safely. This is a rare chance to work on a full autonomy stack, from flight control integration to underwater navigation, on a real vehicle in its earliest stage. We're still in design and actively prototyping.

What you'll work on

• Autonomy and mission logic for every phase: launch, air transit, air-to-water transition, underwater search, water-to-air transition and recovery
• Integration with ArduPilot and ROS 2 (Robot Operating System 2) through MAVROS (Micro Air Vehicle Robot Operating System bridge)
• Sensor fusion across GPS, the IMU (Inertial Measurement Unit), depth sensor and sonar
• Underwater navigation using dead reckoning when GPS is unavailable
• Processing and interpreting scanning sonar data
• Simulation and testing, including SITL (software-in-the-loop) before we fly or dive
• Ground station tools, telemetry and logging

What we're looking for

• Experience in Python and/or C++
• Comfort working in Linux and using Git
• Strong interest in robotics, drones or autonomous systems
• Someone who likes testing their code on real hardware, not just in simulation

Nice to have

• ROS 2, ArduPilot or PX4 (Pixhawk flight-control software) experience
• Embedded experience (microcontrollers, NVIDIA Jetson)
• Kalman filters, state estimation or controls background
• Computer vision or signal processing

Compensation

This is an equity-only role. There is no salary or hourly pay. As a founding team member you'll receive equity in Liminal Stratum, so you share directly in what we build together.

Location

Location: Boulder, Colorado. This role is in person. We build and test hardware together, so you must be local to Boulder. We are not considering remote applicants.