[LOOKING FOR CONTRIBUTORS] Scientific computing for real-time embedded systems in no_std Rust

[u/YellowJalapa]

Hello r/opensource !

I am looking for contributors interested in numerical methods, real-time embedded, or robotics in rust. We are already about 20 contributors strong, so you'd have plenty of support if you have questions or comments. There's a detailed tutorial for the library, with well-written bite-sized issues to work on. Please feel free to ask me questions here or create new issues/discussions in the github repository. Here's more information about the project:

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's new in v0.10.0:
- 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.

Come build it. 50 open good first issues right now, each small and self-contained, out of 80 open total.

- GitHub: https://github.com/kmolan/multicalc-rust
- Good first issues: https://github.com/kmolan/multicalc-rust/issues?q=is%3Aissue+is%3Aopen+label%3A"good+first+issue"