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Changelog

All notable changes to this project will be documented in this file. This project uses Semantic Versioning.

0.7.0 - 2026-04-26

Added

  • Added copy_to and copy_from to matrix trait.
  • Added Unscented Kalman Filter (UKF) support, including builder types and covariance computation.
  • Added integration tests for UKF covariance computation and type coverage.
  • Added support for GitNexus code intelligence.
  • Added dependency graph submission in CI/CD.

Changed

  • The copy matrix operation is now deprecated in favor of copy_to.

Fixed

  • Fixed pre-existing clippy warnings for doc indentation and lifetime syntax.
  • Fixed clippy warnings in proptest files.
  • Fixed typo in README.md regarding libm usage.

Internal

  • Addressed CI/CD review: fixed ineffective skips, dropped no-op, aligned CI runs, and renamed test.
  • Used UFCS in data_type tests to exercise trait impls.
  • Cleaned up comments in data.rs.
  • Updated tea.yaml.

0.6.0 - 2024-06-22

Note: This release contains breaking changes.

Fixed

  • #32: Process noise is now separated into direct process noise, acting directly on the state transition, and control process noise, acting only on control inputs through the control matrix.

Internal

  • #31: The Regular and Extended Kalman Filter types were split, renamed and moved into separate modules. RegularKalman and ExtendedKalman now only provide their respective functionalities.

0.5.0 - 2024-06-20

Note: This release contains major breaking changes.

Added

  • #10: Builder types were added for Kalman filters, control inputs and observations. The KalmanFilterBuilder type serves as a simple entry point on alloc crate features.
  • #21: Added the functions make_identity, make_scalar, make_comatrix and set_diagonal_to_scalar for square matrices.
  • #25: Added support for Extended Kalman Filters.
  • #28: micromath is now an optional dependency again.

Changed

  • #9: Data ownership was reworked: Filters, control inputs and measurements/observations are now backed by a generic buffer type that can operate on stack- or heap allocated arrays, immutable and mutable references. Some features are gated behind the alloc crate feature.
  • Types were remodeled into new modules in order to arrange them in a slightly more logical way.
  • #18: "Inputs" naming was changed to "Control" to align more closely with common usages of Kalman filters.
  • #20: "Measurements" naming was changed to "Observation" in places where it aligns with common usages of Kalman filters. In addition, type name ambiguity between process and measurement noise covariance was reduced.

Removed

  • The create_buffer_X macros were removed from the crate due to their relatively complicated use.

Internal

  • #8: The repository was restructured into a Cargo workspace to allow for easier handling of cross-compilation examples.
  • #27: Added an EKF example with radar measurements of a moving object.

0.4.0 - 2024-06-07

Added

  • #7: Added the libm crate feature for libm support.
  • #7: Added the float crate feature to enable f32 and f64 built-in support.

Removed

  • Removed the no_std crate feature in favor of the std feature (disabled by default).

Internal

  • #7: Add an example project for STM32F303 cross-compilation.
  • Added CI/CD spell-checks and pre-commit hooks.

0.3.0 - 2024-06-04

Added

  • #6: Added support for fixed-point values via the fixed crate.

Changed

  • #5: The macros, matrix, filter and measurement structs are now generic on the data type. If no type is provided, it defaults to f32.

Removed

  • The dependency on micromath was removed due to the generic type implementations.

0.2.3 - 2024-06-03

Internal

  • Improved documentation of Kalman and Measurement structs.

0.2.2 - 2024-06-03

Internal

  • Added usage examples to macro documentation.

Removed

  • Removed duplicate create_buffer_P_temp and create_buffer_BQ_temp macros in favor of create_buffer_temp_P and create_buffer_temp_BQ.

0.2.1 - 2024-06-03

Internal

  • Conditionally enable docsrs feature gate when building documentation on docs.rs.

0.2.0 - 2024-06-03

Internal

  • Remove requirement to specify either std or no_std crate feature. If no_std is not specified, std is now implied. This resolves builds on docs.rs and quirks when using the crate.
  • Some documentation hyperlinks were now corrected.

0.1.0 - 2024-06-03

Internal

  • Set MSRV to 1.70.0 and Rust Edition to 2021.
  • Added CI/CD cross-platform builds, code coverage and ensure examples and benchmarks build correctly.
  • Remove dependency on stdint crate unless explicitly enabled with the stdint crate feature. This should unblock builds on Windows.

0.0.2 - 2023-07-11

Added

  • Initial release as a port from the kalman-clib library.