diff --git a/.clang-tidy b/.clang-tidy
new file mode 100644
index 0000000..42864a0
--- /dev/null
+++ b/.clang-tidy
@@ -0,0 +1,80 @@
+Checks: 'readability-*, -readability-magic-numbers, -readability-function-cognitive-complexity, -readability-else-after-return, -readability-redundant-access-specifiers, performance-*, modernize-*, -modernize-use-trailing-return-type, -modernize-avoid-c-arrays, -modernize-use-nodiscard, -modernize-use-auto, -modernize-pass-by-value, misc-assert-side-effect, -clang-analyzer-osx.*, -clang-analyzer-cplusplus.Move, -clang-analyzer-core.uninitialized.UndefReturn, -clang-analyzer-optin.portability.UnixAPI, -clang-analyzer-unix.Malloc'
+WarningsAsErrors: '*'
+HeaderFilterRegex: '.*/thirdparty/basalt-headers/include/basalt/*'
+
+CheckOptions:
+# Classes, structs, ...
+  - key:    readability-identifier-naming.NamespaceCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ClassCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.StructCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.EnumCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.UnionCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.TypedefCase
+    value:  CamelCase
+
+# Variables, member variables, ...
+  - key:    readability-identifier-naming.ParameterCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ParameterIgnoredRegexp
+    value:  'Q[12]?_.*|[A-Z]|[JH]_.*|[TR]_[a-z]+_[a-z]+.*'
+  - key:    readability-identifier-naming.VariableCase
+    value:  lower_case
+  - key:    readability-identifier-naming.VariableIgnoredRegexp
+    value:  'Q[12]?_.*|[A-Z]|[JH]_.*|[TR]_[a-z]+_[a-z]+.*'
+  - key:    readability-identifier-naming.MemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PublicMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PublicMemberIgnoredRegexp
+    value:  'Q[12]?_.*|[A-Z]|[JH]_.*|[TR]_[a-z]+_[a-z]+.*'
+  - key:    readability-identifier-naming.ProtectedMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ProtectedMemberSuffix
+    value:  _
+  - key:    readability-identifier-naming.ProtectedMemberIgnoredRegexp
+    value:  'Q[12]?_.*|[A-Z]|[JH]_.*|[TR]_[a-z]+_[a-z]+.*'
+  - key:    readability-identifier-naming.PrivateMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PrivateMemberIgnoredRegexp
+    value:  'Q[12]?_.*|[A-Z]|[JH]_.*|[TR]_[a-z]+_[a-z]+.*'
+  - key:    readability-identifier-naming.PrivateMemberSuffix
+    value:  _
+
+# Functions, methods, ...
+  - key:    readability-identifier-naming.FunctionCase
+    value:  camelBack
+  - key:    readability-identifier-naming.MethodCase
+    value:  camelBack
+
+# Constants
+  - key:    readability-identifier-naming.ConstantPrefix
+    value:  ''
+  - key:    readability-identifier-naming.ConstantCase
+    value:  UPPER_CASE
+  - key:    readability-identifier-naming.ConstantMemberPrefix
+    value:  ''
+  - key:    readability-identifier-naming.ConstantMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ConstantMemberIgnoredRegexp
+    value:  '^.*_$'
+  - key:    readability-identifier-naming.ConstantParameterPrefix
+    value:  ''
+  - key:    readability-identifier-naming.ConstantParameterCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ConstantParameterIgnoredRegexp
+    value:  'Q[12]?_.*|[A-Z]|[JH]_.*|[TR]_[a-z]+_[a-z]+.*'
+  - key:    readability-identifier-naming.LocalConstantParameterPrefix
+    value:  ''
+  - key:    readability-identifier-naming.LocalConstantCase
+    value:  lower_case
+  - key:    readability-identifier-naming.LocalConstantIgnoredRegexp
+    value:  'Q[12]?_.*|[A-Z]|[JH]_.*|[TR]_[a-z]+_[a-z]+.*'
+  - key:    readability-identifier-naming.ConstexprVariablePrefix
+    value:  ''
+  - key:    readability-identifier-naming.ConstexprVariableCase
+    value:  UPPER_CASE
diff --git a/src/calibration/vignette.cpp b/src/calibration/vignette.cpp
index d3fab3f..f383d62 100644
--- a/src/calibration/vignette.cpp
+++ b/src/calibration/vignette.cpp
@@ -67,11 +67,11 @@ VignetteEstimator::VignetteEstimator(
   for (size_t i = 0; i < vio_dataset->get_num_cams(); i++) {
     while (vign_param[i].maxTimeNs() <
            int64_t(vign_size) * int64_t(1e9 * 0.7)) {
-      vign_param[i].knots_push_back(Eigen::Matrix<double, 1, 1>(1));
+      vign_param[i].knotsPushBack(Eigen::Matrix<double, 1, 1>(1));
     }
 
     while (vign_param[i].maxTimeNs() < int64_t(vign_size) * int64_t(1e9)) {
-      vign_param[i].knots_push_back(Eigen::Matrix<double, 1, 1>(0.01));
+      vign_param[i].knotsPushBack(Eigen::Matrix<double, 1, 1>(0.01));
     }
   }
 
diff --git a/src/mapper_sim.cpp b/src/mapper_sim.cpp
index 01e5a09..0f7a50f 100644
--- a/src/mapper_sim.cpp
+++ b/src/mapper_sim.cpp
@@ -293,7 +293,7 @@ void load_data(const std::string& calib_path, const std::string& cache_path) {
       gt_spline.reset(new basalt::Se3Spline<5>(t_ns));
 
       for (size_t i = 0; i < knots.size(); i++) {
-        gt_spline->knots_push_back(knots[i]);
+        gt_spline->knotsPushBack(knots[i]);
       }
 
       is.close();
diff --git a/src/mapper_sim_naive.cpp b/src/mapper_sim_naive.cpp
index 9ef2436..08f3f1d 100644
--- a/src/mapper_sim_naive.cpp
+++ b/src/mapper_sim_naive.cpp
@@ -536,7 +536,7 @@ void gen_data() {
       gt_spline = basalt::Se3Spline<5>(t_ns);
 
       for (size_t i = 0; i < knots.size(); i++) {
-        gt_spline.knots_push_back(knots[i]);
+        gt_spline.knotsPushBack(knots[i]);
       }
 
       archive(cereal::make_nvp("noisy_accel", noisy_accel));
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index 813ce2d..70a3926 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit 813ce2d7a6854f25561b8b3810b0bf355658a161
+Subproject commit 70a3926a524e47421c63c6cadcd59293ccd7d14b