Martin's Personal Page

This page collects useful information for myself, my students and interested colleagues or friends.

Codes & Programs

If you came here, you obviously were looking for some academic piles of code. you go:

  • StratoX Weather Glider: Flight stack for an unmanned fixed-wing drone which is supposed to record weather data in high altitudes.
  • gnatprove_unitstats: A script aggregating data from GNATprove verification runs on SPARK2014 programs, and presenting verification statistics (e.g., success, coverage, failure by VC type) in human- or machine readable format.
  • WCET Benchmarks: C codes from Mälardalen WCET benchmarks, adapted for WCET analysis using Bounded Model Checking (annotated at source level with instruction timing for Atmega processors)
    • for paper see LCTES 2016 proceedings: "TIC: a scalable model checking based approach to WCET estimation"
    • collaboration with Tata Research Development and Design Centre, Pune
    • code at
  • MavLogAnalyzer: GUI to parse, display, filter, export and store flight logs of MavLink, APM:Pilot, Pixhawk etc.
  • libcontainers: C library that composes software components using signals and events, in the form a declaration-flavored C library

Coding Guidelines and Helpers

  • Guidelines for Writing C Code (updated in June 2014): a very basic set of rules, that help to write "better" code; more readable, less error-prone. [download PDF]
  • Ada/SPARK 2014 Mini Cheat Sheet for language newbies. Only the bare essentials, no advanced stuff. [download PDF]


  • Peer Communication for the Pololu 3pi robot in C and Esterel: Our customized version of the Pololu 3pi robot features a Bluetooth transceiver. This is about how to use it from Esterel. [download PDF]