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Robotics
flight-controller
drone flight controller
PX4, Betaflight
System
Techniques · 2
Primitives · 30
flight-controller
Sensor fusion
robotics · medium: Combining IMU, GNSS, camera, lidar and radar estimates with Kalman-type filters and time alignment
Transform tree
robotics · medium: Time-indexed tree of coordinate frames with interpolated lookups between any two frames
SPSC ring buffer
data-structures · low: Bounded wait-free queue for exactly one producer and one consumer thread, built from an array and two indices with acquire/release ordering.
›
Complementary filter
robotics · low: Blend high-passed gyro integration with low-passed accelerometer/magnetometer attitude (Mahony/Madgwick)
Extended Kalman filter
robotics · low: Kalman filter for nonlinear motion and measurement models: linearize f and h with Jacobians at the current estimate each step. The default estimator in robot navigation.
›
Rigid-body transforms (SE(3) poses)
robotics · low: Represent, compose, invert, integrate and interpolate 3D poses as unit quaternion plus translation, with exp/log maps for small motions and uncertainty.
›
Dma transfers
embedded · low: DMA controllers: descriptors, circular buffers, cache coherence for zero-CPU data movement
Fixed-rate control loop
embedded · low: Run a controller at an exact period using absolute deadlines and a fixed dt, so jitter never accumulates and the math stays valid.
›
Preemptive priority scheduling
embedded · low: Always run the highest-priority ready task, switching the instant a higher one becomes ready; selection is O(1) with one FIFO per priority and a bitmap.
›
PWM generation
embedded · low: A timer's counter, period and compare registers draw the pulse train; preload, dead time and DMA make duty changes glitch-free, shoot-through-free and cheap.
›
Spi i2c bus drivers
embedded · low: SPI/I2C/UART peripheral drivers with interrupts, DMA and bus error recovery
CRC32C checksums
hardware-os · low: The Castagnoli CRC-32 with dedicated instructions on x86 (SSE4.2) and ARMv8. It is the standard fast integrity check for storage blocks, logs and network frames.
›
Interrupt handling
hardware-os · low: How a device signal reaches a CPU handler through an interrupt controller and vector table, and how top/bottom halves, polling switch-over and coalescing keep load bounded.
›
Fast Fourier transform
numerics · low: Computes the DFT in O(n log n) by recursively splitting into even and odd halves; the basis of fast convolution and spectral methods.
›
Control allocation mixing
robotics · low: Map desired thrust and torques to actuator commands via mixer matrices with saturation handling
PID controller
robotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.
›
Pure pursuit path tracking
robotics · low: Geometric path following by steering to a look-ahead point (pure pursuit, L1, Stanley)
Biquad filters
signal-processing · low: Second-order IIR sections (RBJ cookbook): low/high pass, peaking EQ; stable cascades
+ 14 more primitives
System
Techniques · 2
Primitives · 30
flight-controller
Sensor fusion
robotics · medium: Combining IMU, GNSS, camera, lidar and radar estimates with Kalman-type filters and time alignment
Transform tree
robotics · medium: Time-indexed tree of coordinate frames with interpolated lookups between any two frames
SPSC ring buffer
data-structures · low: Bounded wait-free queue for exactly one producer and one consumer thread, built from an array and two indices with acquire/release ordering.
›
Complementary filter
robotics · low: Blend high-passed gyro integration with low-passed accelerometer/magnetometer attitude (Mahony/Madgwick)
Extended Kalman filter
robotics · low: Kalman filter for nonlinear motion and measurement models: linearize f and h with Jacobians at the current estimate each step. The default estimator in robot navigation.
›
Rigid-body transforms (SE(3) poses)
robotics · low: Represent, compose, invert, integrate and interpolate 3D poses as unit quaternion plus translation, with exp/log maps for small motions and uncertainty.
›
Dma transfers
embedded · low: DMA controllers: descriptors, circular buffers, cache coherence for zero-CPU data movement
Fixed-rate control loop
embedded · low: Run a controller at an exact period using absolute deadlines and a fixed dt, so jitter never accumulates and the math stays valid.
›
Preemptive priority scheduling
embedded · low: Always run the highest-priority ready task, switching the instant a higher one becomes ready; selection is O(1) with one FIFO per priority and a bitmap.
›
PWM generation
embedded · low: A timer's counter, period and compare registers draw the pulse train; preload, dead time and DMA make duty changes glitch-free, shoot-through-free and cheap.
›
Spi i2c bus drivers
embedded · low: SPI/I2C/UART peripheral drivers with interrupts, DMA and bus error recovery
CRC32C checksums
hardware-os · low: The Castagnoli CRC-32 with dedicated instructions on x86 (SSE4.2) and ARMv8. It is the standard fast integrity check for storage blocks, logs and network frames.
›
Interrupt handling
hardware-os · low: How a device signal reaches a CPU handler through an interrupt controller and vector table, and how top/bottom halves, polling switch-over and coalescing keep load bounded.
›
Fast Fourier transform
numerics · low: Computes the DFT in O(n log n) by recursively splitting into even and odd halves; the basis of fast convolution and spectral methods.
›
Control allocation mixing
robotics · low: Map desired thrust and torques to actuator commands via mixer matrices with saturation handling
PID controller
robotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.
›
Pure pursuit path tracking
robotics · low: Geometric path following by steering to a look-ahead point (pure pursuit, L1, Stanley)
Biquad filters
signal-processing · low: Second-order IIR sections (RBJ cookbook): low/high pass, peaking EQ; stable cascades
Hierarchical state machine
systems · low: Nest states so a substate inherits its parent's reactions and only overrides what differs, with ordered entry and exit actions along the path.
›
Quaternion rotations
geometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.
›
Lowest common ancestor
graphs · low: LCA/merge-base computation in trees and DAGs
Spline interpolation
numerics · low: Linear, bilinear/trilinear and cubic spline interpolation on grids and tables
False sharing
concurrency · low: Independent variables written by different cores on one cache line force the line to bounce between cores; pad or regroup hot data to fix it.
›
Memory ordering
concurrency · low: What Relaxed, Acquire, Release and SeqCst atomics actually guarantee, what they cost on x86 and ARM, and which one each pattern needs.
›
Homogeneous transforms
geometry · low: 4x4 affine and projective matrices, homogeneous coordinates, view and projection, normal matrices
CPU caches and the memory hierarchy
hardware-os · low: Sizes, line widths and latencies of L1/L2/L3/DRAM on modern x86 and Apple M-series, and the data-layout rules that follow from them.
›
SIMD programming
hardware-os · low: Process 4-16 lanes per instruction with AVX2, AVX-512 or NEON via Rust std::arch, with runtime dispatch and a portable fallback.
›
Explicit Euler
numerics · low: Step an ODE forward by its current slope, y += h·f(t, y); first-order, one evaluation per step, the baseline every other integrator is measured against.
›
Finite differences
numerics · low: Replace derivatives with weighted differences of grid values; simple stencils plus a stability condition (CFL) turn PDEs like heat, advection and waves into array loops.
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LU and Cholesky factorization
numerics · low: Factor A = PLU (any square matrix, partial pivoting) or A = LLᵀ (SPD) once in O(n³), then solve each right-hand side in O(n²).
›
Thomas tridiagonal solver
numerics · low: O(n) tridiagonal linear solve used in implicit finite-difference and spline schemes
Kalman filter
robotics · low: Optimal recursive estimator for a linear system with Gaussian noise: fuses a motion model with noisy measurements into a state estimate plus its covariance.
›
Copy for AI
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