mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-13 08:33:34 +08:00

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Paul Riseborough 3accab1ac5 EKF: protect declination fusion from badly conditioned earth field estimates

Fusion with large initial magnetometer biases errors can result in the the NE earth field states reducing in magnitude and effectively flipping sign.

EKF: Move declination state limiting into a separate function

EKF: Limit NE mag states after each 3-axis mag fusion

EKF: Fix bug in mag field strength look-up scale factor

2019-01-31 09:53:57 -05:00

airdata

set MODULE define for each library

2018-05-27 20:08:47 +02:00

attitude_fw

ECL_Controller base needs virtual destructor

2018-08-30 12:07:25 -04:00

docs

doxygen cmake and Jenkins support

2018-05-04 01:22:10 -04:00

EKF

EKF: protect declination fusion from badly conditioned earth field estimates

2019-01-31 09:53:57 -05:00

geo

replace <cfloat> with <float.h>

2019-01-06 12:09:05 -05:00

geo_lookup

EKF: protect declination fusion from badly conditioned earth field estimates

2019-01-31 09:53:57 -05:00

l1 position controller: make sure that a NAN roll setpoint

2018-08-21 16:16:33 +02:00

mathlib

visual studio build compatibility

2018-05-03 22:25:36 -04:00

tecs

TECS: Do not even calculate integrator state if integrator gain is zero

2018-06-29 15:55:46 +00:00

validation

replace <cfloat> with <float.h>

2019-01-06 12:09:05 -05:00

.gitignore

code coverage cmake and Jenkins support

2018-05-04 01:40:23 -04:00

.travis.yml

travis-ci basic build script

2018-05-05 15:25:54 -04:00

CMakeLists.txt

cmake ignore doxygen option when not a standalone build (#488 )

2018-07-30 12:23:24 -04:00

CONTRIBUTING.md

Create CONTRIBUTING.md

2016-05-19 18:14:33 +10:00

ecl.h

cmake standalone build

2018-05-03 22:25:36 -04:00

Jenkinsfile

Jenkins update all containers to latest tag 2019-01-28

2019-01-31 08:06:00 +11:00

LICENSE

Initial commit

2015-10-26 15:41:25 +01:00

Makefile

cmake and Jenkins add basic address santiizer test buld

2018-05-05 16:11:04 -04:00

README.md

README.md update Jenkins build status icon and url

2018-09-18 20:16:29 -04:00

README.md

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

EKF Documentation and Tuning Guide

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