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
- 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
- Validate the whole inertia tensor in `SpatialInertia::new`
- Guard the steady-state divisor in `Biquad::settle_to`
- Apply the shortest-path rule to the geometric attitude error
- Certify LQR stability against `Q + K' R K`, not `Q` alone
- Add a saturating control call and document anti-windup for `Lqr`
- Add an integral term and a torque limit to the geometric attitude controller
- Docs
- Rust not yet supported