Multicalc: Scientific computing for real-time embedded systems in no_std Rust

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 e...