Hi!
I've been working on a daemon that fuses accelerometer, gyroscope, magnetometer, and GPS data into a unified NMEA output for use with Navit (and other navigation software).
The problem it solves: Navit currently relies on GPS course-over-ground for heading. That breaks down completely when you're stationary, in a tunnel, or in an urban canyon. This daemon uses AHRS (Attitude and Heading Reference System) fusion to derive continuous heading from IMU sensors, so Navit keeps a useful heading even when GPS fails you.
What it supports:
- Linux natively via the IIO subsystem (targets Panasonic Toughpad FZ-G1 but works with many IMUs — MPU6050/9250, LSM6DS series, BNO055, ICM20948, etc.)
- Android and iOS as remote TCP clients that stream sensor data to the daemon
- Outputs standard NMEA (GGA + RMC) over TCP
Yes, it was made with AI assistance. Before anyone writes it off as slop — it's been properly fuzz-tested using Atheris (libFuzzer-style, coverage-guided) across 4 harnesses with runs up to 3 hours each. Several real bugs were found and fixed: type coercion errors, overflow on large numeric inputs, non-dict JSON handling. The fuzz report is located here:
https://github.com/Supermagnum/Navit-daemon/blob/main/fuzz/FUZZ_REPORT.md
It has also undergone module tests:
https://github.com/Supermagnum/Navit-daemon/blob/main/TEST_RESULTS.md
Repo: https://github.com/Supermagnum/Navit-daemon
Feedback welcome, especially from anyone running Navit on rugged Linux hardware.
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