Hardware recommendation for real-world deployment — similar platform to the custom drone in the paper?

[lrrghdrh]

I've read the NavRL paper and understand that the real-world experiments
were conducted on a custom-built quadcopter. I'm interested in deploying
NavRL on an actual drone and would like to ask for some hardware guidance.

From the repo and related issues (e.g., #135), I can see that the real
deployment uses:

• RealSense D435 (depth camera)
• MAVROS / MAVLink-compatible flight stack
• ROS Noetic

Could you share any details about the custom drone platform used in the
paper? Specifically:

• Flight controller (e.g., Pixhawk series?)
• Onboard computer (e.g., NVIDIA Jetson, NUC?)
• Frame / motor specs (approximate size/weight class)

And if the exact platform can't be shared, are there any off-the-shelf
or semi-custom drones you would recommend as a close alternative for
reproducing the real-world results?

Thank you for the great work!