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4fa1e9c651
IMU corrections were being applied at the wrong time horizon to the EKF states IMU downsampling rotates the delta velocities into the orientation produced by the last delta angle, but this wasn't consistent with the way the state prediction was using the delta velocity data.
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 currently BSD licensed, but might move to Apache 2.0.
Building EKF Library
Prerequisite:
- Eigen3: http://eigen.tuxfamily.org/index.php installed
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