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27f7846495
- the velocity of the optical flow sensor relative to the IMU expressed in body frame is the cross product of the angular velocity with the vector from IMU to the sensor. If we use the angular velocity stored in the flow sample struct we need to use a negative sign as that angular velocity follows the opposite sign convention. Signed-off-by: Roman <bapstroman@gmail.com>
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