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394dd95cba
Use horizontal acceleration to check if yaw is observable independent of the magnetometer. Use rotation about the vertical to check if mag raises are observable. If neither yaw of mag biases are observable, save the magnetic field variances and switch to magnetic yaw fusion. Use the last learned declination when using magnetic yaw fusion so that the yaw reference remains consistent. When yaw or biases become observable, reinstate the saved variances and switch back to 3D mag fusion.
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