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Paul Riseborough
4d59c834eb
This brings all the range finder data checks (excluding innovation consistency checks) into one place and eliminates the need to perform range checking external to the library. The hard coded optical flow tilt limit is changed to use the same value as the range finder. Variable names are changed to make a clear distinction between the max/min values calculated by the stuck range check and the max/min valid values for the sensor.
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