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f38388cdab
Replace the multiple if-else statements by a generic equation. - For a multicopter, the attenuation factor is 2 and symmetrical - For a fixedwing, the attenuation factor is 1 if the acceleration is positive and that centripetal correction is available and 2 otherwise. Note that the function "sq" needs to be const in order to be used in a const function.
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