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16976d3911
* pr-ekfOptFlowFixes: EKF: fix bug causing height offset when GPS use stops EKF: Don't reject saturated flow data when it is the only aiding source EKF: Prevent flow motion check false positives EKF: Don't assume large position uncertainty when starting optical flow nav EKF: relax terrain update requirements for continuing optical flow use EKF: Relax minimum required range finder measurement rate EKF: relax optical flow on ground motion checks EKF: range finder aiding logic fixes EKF: Decouple range finder use criteria checking and selection EKF: Don't auto select range finder for height when on ground. EKF: Fix false triggering of optical flow bad motion checks EKF: update comments EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height EKF: Stop using EV for yaw when GPS fusion starts EKF: Add persistence criteria to GPS fail check EKF: allow GPS fallback if quality bad and alternative aiding available EKF: always run GPS checks
ECL
Very lightweight Estimation & Control Library.
This library solves the estimation & control problems of a number of robots and drones. It accepts GPS, vision and inertial sensor inputs. It is extremely lightweight and efficient and yet has the rugged field-proven performance.
The library is BSD 3-clause licensed.
EKF Documentation
Building EKF
Prerequisites:
- Matrix: A lightweight, BSD-licensed matrix math library: https://github.com/px4/matrix - it is automatically included as submodule.
By following the steps mentioned below you can create a shared library which can be included in projects using -l flag of gcc:
mkdir Build/
cd Build/
cmake ../EKF
make
Alternatively, just run:
./build.sh