ISSUIUC/MIDAS-Software
Jan 2025 – Feb 2026
4 Months active
Languages Used
C++
Technical Skills
C++Embedded SystemsIMUSensor FusionAerodynamicsAerospace Engineering
Keshav B
PROFILE
Keshav B
Over four months, contributed to ISSUIUC/MIDAS-Software by developing and refining real-time sensor fusion and state estimation features for aerospace and robotics applications. Built orientation and attitude estimation pipelines using C++ and embedded systems, implementing complementary and Kalman filters to fuse IMU data for smoother, more reliable orientation outputs. Enhanced the Extended Kalman Filter with improved memory management and aerodynamic model organization, reducing maintenance overhead and increasing stability. Introduced a background thread for periodic detection messaging, leveraging real-time operating system techniques. Integrated quaternion-based estimation and streamlined estimator pipelines, demonstrating depth in algorithm development, sensor fusion, and robust software engineering practices.
Overall Statistics
Feature vs Bugs
75%Features
Repository Contributions
10Total
Bugs
2
Commits
10
Features
6
Lines of code
873
Activity Months4
Your Network
22 peopleWork History
February 2026
2 Commits • 2 Features
Feb 1, 2026February 2026 monthly summary for ISSUIUC/MIDAS-Software focusing on user-facing state estimation improvements and codebase hygiene. Delivered two key enhancements to the estimator pipeline, enabling more robust quaternion-based calculations and simpler EKF data flow. The work strengthens the reliability of attitude estimation and lays groundwork for future performance optimizations.
2 Commits • 2 Features
Feb 1, 2026February 2026 monthly summary for ISSUIUC/MIDAS-Software focusing on user-facing state estimation improvements and codebase hygiene. Delivered two key enhancements to the estimator pipeline, enabling more robust quaternion-based calculations and simpler EKF data flow. The work strengthens the reliability of attitude estimation and lays groundwork for future performance optimizations.
February 2026
April 2025
1 Commits • 1 Features
Apr 1, 2025April 2025 monthly summary for ISSUIUC/MIDAS-Software. Focused on delivering a robust Feather Detection Background Thread to improve real-time detection reliability and messaging throughput. No additional major bugs were reported in the provided data.
April 2025
1 Commits • 1 Features
Apr 1, 2025April 2025 monthly summary for ISSUIUC/MIDAS-Software. Focused on delivering a robust Feather Detection Background Thread to improve real-time detection reliability and messaging throughput. No additional major bugs were reported in the provided data.
February 2025
5 Commits • 2 Features
Feb 1, 2025February 2025 monthly performance summary for ISSUIUC/MIDAS-Software. Focused on stabilizing the Extended Kalman Filter (EKF), reorganizing the aerodynamic coefficient handling, and cleaning the codebase to simplify maintenance. Key changes delivered memory management fixes in the EKF, a refactor of the aerodynamic model to improve organization and potential accuracy, and targeted codebase cleanup. Also addressed a minor EKF syntax issue to ensure clean builds. Overall, these efforts reduce memory leak risk, improve model clarity, and lower maintenance costs while preserving or improving run-time stability.
5 Commits • 2 Features
Feb 1, 2025February 2025 monthly performance summary for ISSUIUC/MIDAS-Software. Focused on stabilizing the Extended Kalman Filter (EKF), reorganizing the aerodynamic coefficient handling, and cleaning the codebase to simplify maintenance. Key changes delivered memory management fixes in the EKF, a refactor of the aerodynamic model to improve organization and potential accuracy, and targeted codebase cleanup. Also addressed a minor EKF syntax issue to ensure clean builds. Overall, these efforts reduce memory leak risk, improve model clarity, and lower maintenance costs while preserving or improving run-time stability.
February 2025
January 2025
2 Commits • 1 Features
Jan 1, 2025January 2025 monthly summary for ISSUIUC/MIDAS-Software focusing on sensor fusion enhancements and orientation accuracy. Delivered a complementary filter to fuse gyroscope and accelerometer data to produce smoother orientation (yaw, pitch, roll) and more robust tilt calculation. Addressed axis handling and Euler angle component usage to ensure accurate attitude data. These changes improve measurement reliability for navigation/UI components and downstream systems.
January 2025
2 Commits • 1 Features
Jan 1, 2025January 2025 monthly summary for ISSUIUC/MIDAS-Software focusing on sensor fusion enhancements and orientation accuracy. Delivered a complementary filter to fuse gyroscope and accelerometer data to produce smoother orientation (yaw, pitch, roll) and more robust tilt calculation. Addressed axis handling and Euler angle component usage to ensure accurate attitude data. These changes improve measurement reliability for navigation/UI components and downstream systems.
Activity
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Quality Metrics
Correctness91.0%
Maintainability86.0%
Architecture86.0%
Performance82.0%
AI Usage20.0%
Skills & Technologies
Programming Languages
C++
Technical Skills
AerodynamicsAerospace EngineeringC++C++ programmingEmbedded SystemsIMUKalman FiltersReal-time Operating SystemsSensor FusionSoftware Developmentalgorithm developmentroboticssoftware engineering
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