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Nico van Duijn
267195a11b
This removes the check for _rng_hgt_faulty in the decision of publishing a fake range measurement. The reason for this is that some distance sensors don't populate the quality flag, even if they are saturated. Hence, if we are on the ground and not moving, it is safe to publish a fake measurement of the distance sensor and overwrite the actual sensor data.
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