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3ee6898710
When starting aiding using EV only and commencing GPS aiding later, this change means that the GPS origin is set to the local position 0,0 point rather than the current vehicle position. This avoids large changes in local position when GPs aiding starts.
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