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Paul Riseborough 93c456f2b8 EKF: Improve protection against badly conditioned dVel bias covariances 
Reduces likelihood of Z delta velocity bias learning to wrong value.
 		2018-06-09 22:23:55 +02:00
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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.

EKF Documentation

Building EKF

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