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Paul Riseborough
d177e96508
High rate optical flow data could make flow fusion to run every major update cycle, resulting in the calculation of bias errors in the body rates used to compensate flow data failing time validity checks and not running. This resulted in a slow drift of the nav solution if bias errors were present in the in the gyro data used for flow sensor motion compensation.
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