Open-source engineering

Software whose implementation, usage, limits, and contribution path are publicly inspectable.

Projects

• 360° Spherical Panorama StitchingA CPU-only Python and OpenCV pipeline that turns handheld phone video or stills into an equirectangular panorama and generates a Three.js viewer.
• easyPIDA hardware-agnostic Arduino PID controller library with independent instances, timing controls, anti-windup, derivative filtering, state introspection, and an optional relay autotuner.
• Fine Crack Tracing ToolkitAn installable Python package and CLI for turning pre-segmented crack masks into ordered lines, optional splines, visual overlays, and evaluation metrics.
• Upstream fixes to Betaflight, PX4, and OpenFrontBug fixes contributed to three upstream open-source projects: a Redpine CC2500 debug-mode fix and a W25M flash read fix in Betaflight, an EKF2 range-height reset fix in PX4, and two HUD fixes in OpenFront.

Writing

• Building a 360° panorama stitcher from a phone sweepA phone video, a pure-rotation camera model, and a stubborn question: how much of a 360° reconstruction pipeline can be made explicit instead of hidden behind a stitching API?
• Designing a PID library for real embedded controlThe PID equation is short. A controller that behaves predictably on an Arduino needs much more than three gains.
• Turning segmented cracks into measurable pathsA segmentation mask says which pixels belong to a crack. Inspection work often needs the next layer: an ordered line, a trace, and measurements that can be compared.
• What small upstream fixes teach about firmwareFive pull requests to Betaflight, PX4, and OpenFront, and the habit they share: make the mechanism explicit before touching the code.