forked from Archive/PX4-Autopilot
36 lines
1.1 KiB
Markdown
36 lines
1.1 KiB
Markdown
# ECL
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**Very lightweight Estimation & Control Library.**
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[](https://zenodo.org/badge/latestdoi/22634/PX4/ecl) [](http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2Fecl/activity)
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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.
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The library is BSD 3-clause licensed.
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## EKF Documentation
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* [EKF Documentation and Tuning Guide](https://docs.px4.io/en/advanced_config/tuning_the_ecl_ekf.html)
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## Building EKF
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### Prerequisites:
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* Matrix: A lightweight, BSD-licensed matrix math library: https://github.com/px4/matrix - it is automatically included as submodule.
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By following the steps mentioned below you can create a shared library which can be included in projects using `-l` flag of gcc:
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```
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mkdir Build/
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cd Build/
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cmake ../EKF
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make
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```
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Alternatively, just run:
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```
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./build.sh
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```
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