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bcd3869ca2
* Add const modifiers * Pass imu data as sampe * Remove emergency reset request counter * Improve matrix library usage * Indentation fix * Do not store innovation matrix for each model * Make weights a separate vector * EKF: Add missing alignment transfer to AHRS solutions * EKF: Replace #define constants with static constexpr * EKF: Move declaration for weights into GSF section * EKF: Fix documentation error Co-authored-by: Paul Riseborough <p_riseborough@live.com.au>
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