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25cb400da9
Everywhere where KHP is used, it is first completely reset, thus making it unnecessary to keep it as a class member. This saves 2.3KB RAM. Stack sizes don't need changing, since there is already a function Ekf::predictCovariance(), which needs around 3KB of stack and is called close to where the fuse* functions are called.
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.
Building EKF Library
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