A self-contained 3D math library providing vector operations (add, subtract, cross product, normalize), 3x3 matrix operations, quaternion arithmetic, and ray-polytope intersection. It is MIT-licensed, has no dependencies on other internal modules, and can be extracted for use in any embedded project requiring 3D geometry computations.

Implements second-order low-pass, Butterworth, and IIR biquad filters with configurable cutoff frequencies. The filter state is encapsulated in a struct, and the code is dependency-free, making it highly reusable for sensor signal processing in embedded systems.

Provides a generic PID controller implementation with support for integral windup prevention, derivative filter, and configurable gains. The PidObject struct encapsulates all state, and the code is decoupled from the rest of the flight stack, allowing reuse in any control application.

An I2C device abstraction layer that provides register-level read/write operations (byte, word, bit) with mutex protection for multi-threaded environments. It is used by all I2C sensor drivers in the project and can be ported to any RTOS with minor adjustments.

A lightweight rate supervisor that monitors task execution rates and detects stalls or missed updates. It uses simple counters and thresholds, with no internal dependencies, making it a reusable watchdog pattern for real-time embedded systems.