Worked on the waterloo-rocketry/cansw_processor_canards repository, delivering core embedded flight software for attitude estimation, control, and sensor fusion in aerospace applications. Over several months, implemented features such as a dynamic model overhaul, estimator and controller refactors, and a new sensor suite, while improving test coverage and build reliability. Leveraged C and C++ for real-time systems, integrating FreeRTOS, CAN bus communication, and Kalman filtering for robust state estimation. Enhanced maintainability through code refactoring, unit testing, and CI pipeline stabilization. Addressed runtime stability and configurability, enabling safer, faster releases and supporting ARM-native builds for improved developer experience and deployment flexibility.
Month: 2026-04 — Delivered key capabilities in waterloo-rocketry/cansw_processor_canards, focusing on sensor fusion reliability, estimator data integrity, and code quality improvements. The work lays groundwork for removing the legacy sensor implementation and improves downstream telemetry accuracy and maintainability.
Month: 2026-04 — Delivered key capabilities in waterloo-rocketry/cansw_processor_canards, focusing on sensor fusion reliability, estimator data integrity, and code quality improvements. The work lays groundwork for removing the legacy sensor implementation and improves downstream telemetry accuracy and maintainability.
March 2026 — waterloo-rocketry/cansw_processor_canards summary Key features delivered: - ARM Mac Native Build Support: Restored native ARM GCC build on macOS, removing reliance on Rosetta. This improves build times and developer experience for Apple Silicon users, and aligns with the project’s ARM strategy. Major bugs fixed: - No major bugs reported this month. Focus was on enabling native ARM builds and stabilizing the macOS development workflow. Overall impact and accomplishments: - Business value: Faster, more reliable ARM builds; easier onboarding for Apple Silicon developers; improved CI parity for ARM platforms, reducing friction for ARM-based deployments. - Technical milestones: Native ARM toolchain integration, Rosetta-free macOS builds, single-source traceability via the commit 255376303fd2382af9bbfba524fbabfeca1c0119. Technologies/skills demonstrated: - macOS ARM toolchain (GCC), cross-platform build maintenance, Rosetta-free builds, code change traceability, and maintainable build pipelines.
March 2026 — waterloo-rocketry/cansw_processor_canards summary Key features delivered: - ARM Mac Native Build Support: Restored native ARM GCC build on macOS, removing reliance on Rosetta. This improves build times and developer experience for Apple Silicon users, and aligns with the project’s ARM strategy. Major bugs fixed: - No major bugs reported this month. Focus was on enabling native ARM builds and stabilizing the macOS development workflow. Overall impact and accomplishments: - Business value: Faster, more reliable ARM builds; easier onboarding for Apple Silicon developers; improved CI parity for ARM platforms, reducing friction for ARM-based deployments. - Technical milestones: Native ARM toolchain integration, Rosetta-free macOS builds, single-source traceability via the commit 255376303fd2382af9bbfba524fbabfeca1c0119. Technologies/skills demonstrated: - macOS ARM toolchain (GCC), cross-platform build maintenance, Rosetta-free builds, code change traceability, and maintainable build pipelines.
July 2025 monthly summary for waterloo-rocketry/cansw_processor_canards. Delivered EKF initialization and attitude estimation improvements, consolidated controller angle definitions via macros, and strengthened code quality with formatting and robust initialization checks. Fixed a null pointer robustness bug in the controller module. Added and validated unit tests for EKF changes. Result: more reliable attitude estimation, safer control behavior, improved maintainability, and increased test coverage. Technologies demonstrated include C/C++, embedded flight software patterns, quaternion math, EKF, macros, unit testing, and clang-format driven code quality.
July 2025 monthly summary for waterloo-rocketry/cansw_processor_canards. Delivered EKF initialization and attitude estimation improvements, consolidated controller angle definitions via macros, and strengthened code quality with formatting and robust initialization checks. Fixed a null pointer robustness bug in the controller module. Added and validated unit tests for EKF changes. Result: more reliable attitude estimation, safer control behavior, improved maintainability, and increased test coverage. Technologies demonstrated include C/C++, embedded flight software patterns, quaternion math, EKF, macros, unit testing, and clang-format driven code quality.
May 2025: Consolidated stability and performance improvements for the cansw_processor_canards module. Delivered new feature work, fixed critical bugs, and improved test coverage, configurability, and maintainability, driving reliability and faster performance tuning in flight-critical code.
May 2025: Consolidated stability and performance improvements for the cansw_processor_canards module. Delivered new feature work, fixed critical bugs, and improved test coverage, configurability, and maintainability, driving reliability and faster performance tuning in flight-critical code.
April 2025 — Waterloo Rocketry CAN S/W processor: focus on stability, observability, and test coverage across the codebase. Key progress includes a Dynamic Model overhaul with a draft, implementation, and inertia matrix definition, establishing groundwork for estimator integration; a stabilization step via targeted reverts to maintain a reliable baseline. Built out Unit Testing Infrastructure with FreeRTOS fixtures and gainscheduling tests, plus ongoing framework improvements to improve reliability and coverage. Implemented per-call timing tracking to surface performance bottlenecks and guide optimizations. Added persistent Data Logging to SD Card and introduced timestamp keeper with delta-T calculations to enhance time-based analytics. Strengthened Build/CI pipeline with submodule updates, estimator build merge, and pipeline fixes; MATLAB integration tuning and constants centralization also progressed. Overall impact: faster, safer releases with better diagnosability, performance visibility, and reduced regression risk.
April 2025 — Waterloo Rocketry CAN S/W processor: focus on stability, observability, and test coverage across the codebase. Key progress includes a Dynamic Model overhaul with a draft, implementation, and inertia matrix definition, establishing groundwork for estimator integration; a stabilization step via targeted reverts to maintain a reliable baseline. Built out Unit Testing Infrastructure with FreeRTOS fixtures and gainscheduling tests, plus ongoing framework improvements to improve reliability and coverage. Implemented per-call timing tracking to surface performance bottlenecks and guide optimizations. Added persistent Data Logging to SD Card and introduced timestamp keeper with delta-T calculations to enhance time-based analytics. Strengthened Build/CI pipeline with submodule updates, estimator build merge, and pipeline fixes; MATLAB integration tuning and constants centralization also progressed. Overall impact: faster, safer releases with better diagnosability, performance visibility, and reduced regression risk.
March 2025 (2025-03) performance summary for waterloo-rocketry/cansw_processor_canards. Focused on stabilizing the control loop, enhancing math/IMU integration, improving testability, and accelerating validation through code hygiene and test scaffolding. Achievements span core math/IMU utilities, controller/gain scheduling refinements, CAN messaging enhancements, and initialization/timeout improvements, all complemented by build stability and readability improvements. The work collectively reduces runtime risk, improves control performance, and accelerates testing and release readiness.
March 2025 (2025-03) performance summary for waterloo-rocketry/cansw_processor_canards. Focused on stabilizing the control loop, enhancing math/IMU integration, improving testability, and accelerating validation through code hygiene and test scaffolding. Achievements span core math/IMU utilities, controller/gain scheduling refinements, CAN messaging enhancements, and initialization/timeout improvements, all complemented by build stability and readability improvements. The work collectively reduces runtime risk, improves control performance, and accelerates testing and release readiness.
February 2025 monthly summary for waterloo-rocketry/cansw_processor_canards. Focused on delivering a robust Controller Module Refactor with input redesign and gain-table integration to improve flight control robustness, responsiveness, and maintainability. The work lays the foundation for future estimator-driven enhancements and easier maintenance in mission-critical software.
February 2025 monthly summary for waterloo-rocketry/cansw_processor_canards. Focused on delivering a robust Controller Module Refactor with input redesign and gain-table integration to improve flight control robustness, responsiveness, and maintainability. The work lays the foundation for future estimator-driven enhancements and easier maintenance in mission-critical software.
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