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e6cd6eff87
The handling of invalid flow data when on ground is performed in controlOpticalFlowFusion() where it is able to handle flow sensors that don't publish gyro 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 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