mengchaoheng / EKF2_offline

Use the ecl library offline to implement EKF

Example using ECL offline

I use Myekf2.cpp. instead of main.cpp.
This version use EKF without GPS velocity.
If we have GPS velocity, we should cover the folder EKF with the original code.
In order to run normally, we need to have a folder called "data" in the root directory. And the "data" should have :

imu_data.txt
gps_data.txt
mag_data.txt
baro_data.txt

Build

mkdir build/
cd build/
cmake ../EKF
make

Usage

cd build
./myekf2

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.

Building EKF Library

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 shared library which can be included in projects using -l flag of gcc:

mkdir Build/
cd Build/
cmake ../EKF
make