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EKF waits 10s after GPS signal is lost before setting GPS control status flag to false. As the position information given by the alternative position sources drifts from the last GPS position, the controller over corrects. With this update, the time horizon until GPS control flag set to false is reduced and only alternative position source is used for estimation. tested with optical flow as position souce log from as is https://review.px4.io/plot_app?log=d624af5e-dde4-40ab-ba5b-a693a49f5a36 log with update https://review.px4.io/plot_app?log=13ed6dc3-22dd-43f8-b898-4add41d60439
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