Issues

• feat(tools): S8 zero-velocity inspector — real EuRoC stationary window → ZUPT decision

  phase-3-vio
  branes-ai/cortex#382 · Filter by author Ravenwater opened on Jun 15, 2026 · Phase 3: VIO
  

• feat(tools): S7 SLAM-features inspector — real EuRoC → persistent landmark state

  phase-3-vio
  branes-ai/cortex#381 · Filter by author Ravenwater opened on Jun 15, 2026 · Phase 3: VIO
  

• feat(sdk): R-IEKF system-level NEES verdict via the VioEstimator front-end (#347)

  enhancementphase-3-vio
  branes-ai/cortex#365 · Filter by author Ravenwater opened on Jun 14, 2026 · Phase 3: VIO
  1

  

• epic(sdk): Right-Invariant EKF (R-IEKF) backend — fix the #212 yaw observability leak by construction

  enhancementepicphase-3-vio
  branes-ai/cortex#347 · Filter by author Ravenwater opened on Jun 13, 2026 · Phase 3: VIO
  2

  

• feat(sdk): online extrinsic calibration (S10-as-state) for the #212 over-confidence

  enhancementphase-3-vio
  branes-ai/cortex#332 · Filter by author Ravenwater opened on Jun 12, 2026 · Phase 3: VIO
  

• feat(tools): IMU & camera stream characterization tooling

  enhancementphase-3-vio
  branes-ai/cortex#268 · Filter by author Ravenwater opened on Jun 2, 2026 · Phase 3: VIO
  2

  

• feat(sdk): make InitDiagnostics gate, not just log

  enhancementphase-3-vio
  branes-ai/cortex#267 · Filter by author Ravenwater opened on Jun 2, 2026 · Phase 3: VIO
  

• feat(sdk): conditioning / excitation / parallax monitors

  enhancementphase-3-vio
  branes-ai/cortex#265 · Filter by author Ravenwater opened on Jun 2, 2026 · Phase 3: VIO
  1

  

• feat(sdk): per-component invariant self-checks + known-answer tests

  enhancementphase-3-vio
  branes-ai/cortex#263 · Filter by author Ravenwater opened on Jun 2, 2026 · Phase 3: VIO
  1

  

• epic: VIO diagnostic instrumentation & component contracts

  epicphase-3-vio
  branes-ai/cortex#261 · Filter by author Ravenwater opened on Jun 2, 2026 · Phase 3: VIO
  1

  

• feat(sdk): dynamic VI-init accuracy within gate on low-excitation starts

  enhancementphase-3-vio
  branes-ai/cortex#254 · Filter by author Ravenwater opened on Jun 2, 2026
  

• perf(sdk): bring VIO feed_image latency to real-time (RTF ~0.10x)

  enhancementphase-3-vio
  Bug

  branes-ai/cortex#213 · Filter by author Ravenwater opened on May 29, 2026 · Phase 3: VIO
  

• fix(math): avoid latent narrowing in the Powell golden-test model

  phase-2-math
  Bug

  branes-ai/cortex#166 · Filter by author Ravenwater opened on May 24, 2026 · Phase 2: Math
  

• test(math): expand NLS and linear-solver edge-case coverage

  phase-2-math
  Task

  branes-ai/cortex#165 · Filter by author Ravenwater opened on May 24, 2026 · Phase 2: Math
  

• fix(math): sparse-direct input hardening (duplicate accumulation, symmetry)

  phase-2-math
  Bug

  branes-ai/cortex#164 · Filter by author Ravenwater opened on May 24, 2026 · Phase 2: Math
  

• feat(math): use the magnitude type for Krylov tolerances (complex-scalar support)

  phase-2-math
  Feature

  branes-ai/cortex#163 · Filter by author Ravenwater opened on May 24, 2026 · Phase 2: Math
  

• fix(math): enforce TensorView construction precondition

  phase-2-math
  Bug

  branes-ai/cortex#162 · Filter by author Ravenwater opened on May 24, 2026 · Phase 2: Math
  

• docs: CONTRIBUTING.md with layering rules from CLAUDE.md

  phase-11-docs
  Task

  branes-ai/cortex#106 · Filter by author Ravenwater opened on May 21, 2026 · Phase 11: Docs
  

• docs: ADR directory with one-pager per major decision

  phase-11-docs
  Task

  branes-ai/cortex#105 · Filter by author Ravenwater opened on May 21, 2026 · Phase 11: Docs
  

• docs(examples): hello_zenoh (black-box daemon consumer)

  phase-11-docs
  Task

  branes-ai/cortex#104 · Filter by author Ravenwater opened on May 21, 2026 · Phase 11: Docs
  

• docs(examples): hello_vio (white-box SDK consumer)

  phase-11-docs
  Task

  branes-ai/cortex#103 · Filter by author Ravenwater opened on May 21, 2026 · Phase 11: Docs
  

• docs: Doxygen + GitHub Pages site for SDK API

  phase-11-docs
  Task

  branes-ai/cortex#102 · Filter by author Ravenwater opened on May 21, 2026 · Phase 11: Docs
  

• Epic: E11 · Documentation & examples

  epicphase-11-docs
  branes-ai/cortex#101 · Filter by author Ravenwater opened on May 21, 2026 · Phase 11: Docs
  

• chore(deploy): systemd unit files for daemons + Resource Manager

  phase-10-deployment
  Task

  branes-ai/cortex#100 · Filter by author Ravenwater opened on May 21, 2026 · Phase 10: Deployment
  

• docs(deploy): A/B partition + pull-based OTA ADR

  phase-10-deployment
  Task

  branes-ai/cortex#99 · Filter by author Ravenwater opened on May 21, 2026 · Phase 10: Deployment