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# Software Engineer, Planning & Controls - Autonomy...

- **Company:** DOORDASH, INC.
- **Location:** San Francisco, CA, United States (Remote available)
- **Salary:** $198,600.0 - $292,000.0
- **Contract:** Permanent contract
- **Skills:** C++ (Programming Language), Fault Tolerance, Motion Planning, Open Source Technology, Performance Tuning, Tethering, Hardware Testing
- **Published:** July 9, 2026
- **Apply:** https://www.juju.com/job/00000000getcrl

## About the Role

+ You have deep controls fundamentals: linear and nonlinear systems, stability analysis, controller synthesis and tuning, frequency domain analysis, optimization, and linear algebra

 + You have excellent knowledge of C++ and embedded systems

 + You bring dynamics modeling and simulation experience with aerodynamics knowledge

 + You have experience developing and tuning flight controllers, interfacing with state estimation

 + You have excellent knowledge of motion planning algorithms (trajectory optimization and nonlinear optimization, A*/D*/RRT variants)

 + You have experience with sensorless brushless DC motor control

 + You've built or owned a robot control stack end-to-end, from design through implementation to hardware testing

 + MS/PhD degree in EE, ME, CS, Robotics, or related technical field

 + Nice to have experience includes:

 + Familiarity with PX4 internals (mixer, rate controller, position controller)

 + Experience with hybrid VTOL transition control

 + Experience with tethered or suspended payload dynamics

 + Contributions to open-source flight stacks or robotics frameworks

 + Published papers in controls, motion planning, or aerial robotics

 + Experience developing a Model Predictive Controller (MPC), including formulation, solver, and deployment

## Description

We're hiring a Planning & Controls Engineer in our Autonomy Software team. In this role, you'll own and develop flight control, motion planning, and mission planning algorithms for robust, fault-tolerant drone delivery. This is a hands-on role: you will design controllers, implement them in C++ on embedded platforms, test them in flight, and iterate., + Develop and tune low-level flight control algorithms for overactuated multirotor and hybrid aircraft on embedded platforms

 + Own the dynamics simulation and aerodynamics modeling of the aircraft

 + Bring up and tune flight controllers on new drone platforms

 + Develop, tune, and test fault-tolerant control (loss of one or more motors, safe landing, emergency behaviors)

 + Build a trajectory motion planner for smooth flight and obstacle avoidance within the operating envelope


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