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The intent of the function "uncorrelateQuatStates()" is to uncorrelathe quaternions from the other states but not between each other as they are and should remain linked alltogether. Clearing the quaternions to quaternion covariances introduced unstabilities in other states (especially accel biases).
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 static library which can be included in projects:
make
// OR
mkdir build/
cd build/
cmake ..
make
Testing ECL
By following the steps you can run the unit tests
make test