multicalc-rust
https://github.com/kmolan/multicalc-rust
Rust
Scientific computing that fits on a microcontroller. Estimation, control, kinematics, Lie groups, calculus, autodiff and linear algebra in stable no_std Rust with no heap, no panics and no unsafe. Run the same code on your laptop and your Cortex-M0.
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Help out
- Issues
- Check the MLP layers against numpy goldens end to end
- Fix/62 view matvec and naming
- Hold RotorLag inside the rotor's thrust limits (#292)
- Report a degenerate orientation from a checked state derivative (#286)
- Reject a NaN at the RunningMedian window boundary (#284)
- Gate measurements against the innovation covariance in the Kalman filters
- Desaturate the multirotor mixer by priority instead of clamping each rotor
- Report non-convergence from `symmetric_eigendecomposition`
- Reject a degenerate resolvent in the quartic root finder
- Honour `compiler/inertiafromgeom` when choosing the inertia source
- Docs
- Rust not yet supported