Projects
- eskf-vio Visual-inertial odometry in C. 15-state ESKF with MSCKF camera updates and a hand-written front-end. 3808 m of IMU drift becomes a 0.38 m trajectory error on EuRoC.
- tinyRTOS Minimal preemptive RTOS for ARM Cortex-M. PendSV context switch hand-written in assembly, SysTick preemption, bare-metal on an STM32F103.
- flight-controller 200Hz cascaded PID flight controller on ESP32, MPU-6050 + complementary filter.
- micrograd.c Scalar-valued autograd engine and neural network library in C.
Tools
- llmp Measures how well a local LLM setup uses its model: a recording proxy plus an analysis that explains wasted prefill time.
- modelfit Recommends the best local LLM for your machine: a curated catalogue scored on quality × physics.
- clipship A minimal, self-hosted web clipper. No cloud, no account, no vendor.
- blip Terminal ADS-B radar for plane spotting: live traffic rendered in braille.
- cinit Quick C/C++ project scaffolding and git initialisation. One command, customisable defaults.