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2f2ac5be43
Use vertical velocity and position innovation failure to detect bad accelerometer data caused by clipping or aliasing which can cause large vertical acceleration errors and loss of height estimation. When bad accel data is detected: 1) Inhibit accelerometer bias learning 2) Force fusion of vertical velocity and height data 3) Increase accelerometer process noise
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