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

• EKF Documentation and Tuning Guide

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