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PX4 Autopilot Software
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Paul Riseborough 72a7ab2c25 EKF: Improve resistance to bad initial mag offset 
When magnetic field states have been reset in-flight using a single sample, the magnetic field states are not used to constrain heading drift for a period after the reset. This period has been shortened from 10 to 5 seconds which is enough time to average out the effects of measurement noise (the original concern). The shorter time has enabled the previous practice for RW vehicles of using magnetic heading in that time period to constrain yaw drift to be discontinued. This is necessary becasue while magnetic heading is being used, it fights the yaw corrections obtained from GPs observations and lengthens the time required to recover from a bad mag calibration.
 		2017-11-13 07:05:56 +11:00
EKF EKF: Improve resistance to bad initial mag offset 2017-11-13 07:05:56 +11:00
attitude_fw Revert "attitude_fw delete unused and cleanup" 2017-08-30 16:23:40 +02:00
l1 clang-tidy modernize-redundant-void-arg 2017-01-14 16:24:45 -08:00
matlab matlab: add derivation for air data error equations 2017-08-12 20:59:41 +10:00
matrix@e595ebb9a7 matrix: Use hamiltonian convention for quaternion product 2017-08-31 11:14:01 +02:00
swig Add Python wrapper to ecl and use it to test functionality 2017-08-14 12:02:03 +02:00
tecs PX4_ISFINITE -> ISFINITE 2017-10-22 20:37:40 +02:00
validation c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -05:00
.gitignore ignore build directory 2016-02-17 17:34:28 -08:00
.gitmodules add matrix submodule 2016-02-17 17:38:21 -08:00
.travis.yml travis-ci fix gcc and clang compilation jobs (#344) 2017-10-22 12:19:11 -04:00
CMakeLists.txt Create total energy control system implementation 2017-10-22 20:37:40 +02:00
CONTRIBUTING.md Create CONTRIBUTING.md 2016-05-19 18:14:33 +10:00
LICENSE Initial commit 2015-10-26 15:41:25 +01:00
README.md Update README.md 2016-10-08 11:00:52 +02:00
build.sh Integrate Python-based tests and benchmark into Travis 2017-08-14 12:02:03 +02:00
ecl.h EKF trivial code style cleanup 2017-08-25 10:09:11 -04:00

README.md

ECL

Very lightweight Estimation & Control Library.

DOI Build Status

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.

Building EKF Library

Prerequisites:

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