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5fb24c3032
Make the target EKF rate an integer multiple of the IMU rate. This slightly increases the average prediction time step for the EKF from just over 10msec to 12msec, but the variation reduces significantly which makes filter tuning more deterministic. Improve the algorithm used to adjust the collection time criteria to reduce jitter in the correction.
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