Welcome!

I use this website mainly to document my projects or articles that I write. Please visit Projects to navigate around the documentation. I also share some of my experiences in Stories page.

I read books in Indonesian and English and I write the reviews here to keep tracking of it or to share my thoughts on the books.

Should you have any questions, feel free to contact me through any channel.


  • Personal Note on Learning New Things: Case Study on Chess

    November 9, 2021 by

    I started playing chess when I was a kid, but not regularly. Several years later, after watching the Queen’s Gambit on Netflix in January 2021, I began playing chess again. With the pandemic situation, outside the working hour, I restricted my activity in crowded places and I found chess can be a fun activity to… Read more

  • Magnetometer Calibration Using Levenberg-Marquardt Algorithm

    September 7, 2021 by

    Recently I worked on a magnetometer calibration method. This method is based on Levenberg-Marquardt Algorithm (LMA), a non-linear least-squares optimization algorithm. The method is implemented on ArduPilot and PX4, an open-source flight controller firmware. I have to admit, formulizing mathematical notion from code is not straightforward. I spent several days to learn from LMA basic… Read more

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