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PX4 Autopilot Software
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Paul Riseborough dbfe8c0242 EKF: remove approximation in mag fusion innovation variance calculation 
The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.
 		2016-06-08 11:58:33 +10:00
EKF EKF: remove approximation in mag fusion innovation variance calculation 2016-06-08 11:58:33 +10:00
attitude_fw Attitude fw: Remove builtin perf counters 2016-05-05 20:06:01 +02:00
l1 l1 initialize everything 2016-04-25 14:39:11 -04:00
matlab EKF: derive auto-code for quaternion state covariance initialisation 2016-05-17 12:28:58 +10:00
matrix@95e3d7d6ce add matrix submodule 2016-02-17 17:38:21 -08:00
validation Add vibration magnitude estimation 2016-02-25 16:54:24 +01:00
.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: just use libeigen3-dev 2016-05-10 17:59:01 +02:00
CMakeLists.txt cmake STACK -> STACK_MAIN 2016-04-16 21:46:50 -04:00
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 README: updated build instructions, prerequisites 2016-05-10 17:59:01 +02:00
build.sh build.sh: if cmake fails, don't continue with make 2016-05-10 17:59:01 +02:00
ecl.h ecl.h: guard PX4 defines with ifdef 2016-06-02 16:29:55 +01:00

README.md

ECL

Very lightweight Estimation & Control Library.

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 currently BSD licensed, but might move to Apache 2.0.

Building EKF Library

Prerequisites:

Ubuntu:

sudo apt-get install libeigen3-dev

Mac

brew install eigen

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