diff --git a/.config/_typos.toml b/.config/_typos.toml
new file mode 100644
index 00000000..e69de29b
diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index a566d920..b8ce183e 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -17,11 +17,26 @@ jobs:
         os: [ubuntu-latest, macos-latest, windows-latest]
     steps:
     - uses: actions/checkout@v4
-    - name: Build
-      run: cargo build --verbose
-    - name: Run tests
-      run: cargo test --all-features --verbose
+    - name: Set up Rust
+      uses: actions-rs/toolchain@v1
+      with:
+        toolchain: stable
+        profile: minimal
+    - name: Setup rust-cache
+      uses: Swatinem/rust-cache@v2
     - name: Check Formating
-      run: cargo fmt --all -- --check
+      run: cargo +stable fmt --all -- --check
     - name: Run Clippy
-      run: cargo clippy -- -D warnings
+      run: cargo +stable clippy --workspace --all-targets --all-features -- --deny warnings
+    - name: Build
+      run: cargo +stable build --workspace --all-targets --all-features
+    - name: Run tests
+      run: cargo +stable test --doc --workspace
+  typos:
+    name: Typos Check
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: crate-ci/typos@master
+        with:
+          config: ./.config/_typos.toml
diff --git a/Cargo.toml b/Cargo.toml
index 92a9a69b..5f59646f 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -31,10 +31,10 @@ nalgebra = "0.33.2"
 rand = { version = "0.8.5", features = ["rand_chacha"] }
 rand_distr = "0.4.3"
 rerun = "0.21.0"
-thiserror = "2.0.7"
-serde = { version = "1.0.216", features = ["derive"] }
+thiserror = "2.0.11"
+serde = { version = "1.0.217", features = ["derive"] }
 serde_yaml = "0.9.34"
-env_logger = "0.11.5"
+env_logger = "0.11.6"
 log = "0.4.22"
 rayon = "1.10.0"
 rand_chacha = "0.3.1"
diff --git a/src/lib.rs b/src/lib.rs
index d23669a7..d982c56e 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -487,7 +487,7 @@ impl Imu {
 /// PID controller for quadrotor position and attitude control
 ///
 /// The kpid_pos and kpid_att gains are following the format of
-/// porportional, derivative and integral gains
+/// proportional, derivative and integral gains
 /// # Example
 /// ```
 /// use nalgebra::Vector3;