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multicalc is my Rust crate for scientific computing on real-time embedded systems. Estimation, control, kinematics, dynamics, Lie groups, calculus, autodiff and linear algebra in safe no_std Rust.
What you're seeing: A Skydio X2 loaded from its MuJoCo model, localizes itself with particle filter, then flies a minimum-snap waypoints on a noisy IMU plus GPS. Also features a 15-state error-state EKF, an LQR position loop and a geometric attitude controller. The whole stack in a median ~2 µs of each 1 ms tick.
What's new:
MuJoCo integration: Load MuJoCo robot models directly into native multicalc types. Perform kinematics, control and dyanamics in rust on the MuJoCo managerie.
Estimation: unscented KF, error-state KF with IMU bias estimation, Madgwick and Mahony attitude filters.
Control: infinite-horizon Lqr, GeometricAttitudeController, solve_discrete_riccati / solve_discrete_lyapunov.
Signal processing: biquads (low/high/band/notch), cascades, rotor-harmonic notches, moving average, running median, Savitzky-Golay, deadband/hysteresis/slew limiting.
Polynomials: closed-form real roots to quartic, piecewise and multivariate polynomials with symbolic partials, MinimumSnapPlanner.
Still enforced:
1 kHz loops. No heap, fixed-size types, bounded work per call.
Six embedded targets: x86_64 and aarch64 Linux hosts plus four bare-metal ABIs (thumbv7em soft-float and hard-FPU, thumbv6m, riscv32imc), running under QEMU with no_std, no-alloc and no-panic rules enforced on each.
Measured against external references: Per-module fixtures from numpy, scipy, filterpy, mpmath and mujoco agreeing to ~1 ulp. Tables are in the repo.
We are over a dozen contributors strong now, with roughly one external contribution coming in every single day! Lets gooooo! Coming up next is articulated whole body dynamics (RNEA/CRBA/ABA), robot arm kinematics and dynamics natively in rust validated against Pinocchio.
Come build it. 50 open good first issues right now, each small and self-contained, out of 87 open total. If you like numerical methods, autodiff, embedded Rust, or robotics, I'd love the help.
crates.io: crates.io: Rust Package Registry
GitHub: GitHub - kmolan/multicalc-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. · GitHub
Good first issues: Issues · kmolan/multicalc-rust · GitHub
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| # | Наименование новости | Тональность | Информативность | Дата публикации |
|---|---|---|---|---|
| 1 | Multicalc: Scientific computing for real time embedded systems in no_std rust | 0 | 9.4 | 28-07-2026 |
| 2 | Multicalc 0.6.0: a no_std multivariable calculus library now looking for contributors | 5 | 7 | 28-06-2026 |
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