mengchaoheng / ecl_offline

ECL OFFLINE DEBUG ECL库离线调试

to use ecl_offline

(1) console

mkdir build/
cd build/
cmake ../EKF
make
./myekf2

(2) IDE(qtcreator)

open project /ecl/EKF/CMakeLists then you can debug it by set breakpoint

use other version ecl

cd EKF
cp CMakeLists.txt Myekf2.cpp myekf2.h ${OTHER_VERSION_ECL}/

tips: dont forget copy matrix to root directory${OTHER_VERSION_ECL}

Prerequisites

origin from https://github.com/AbnerCSZ/EKF2_offline.git

Open Source Introduce

地面站开源介绍 http://shequ.dimianzhan.com/articles/586/ecl-offline-li-xian-tiao-shi-kai-yuan-dai-ma-ekf2-hui-fang-yi-zhi-gai-suan-fa CSDN介绍 https://blog.csdn.net/qq_39600809/article/details/100187673

2019.8.31 add test data from ulog2csv ulgfile,do some modify ,see /ecl/data/erk_vision 2019.9.04 add opuput ecl log data(local_position，global_position,quat,sensor_bias,innovation,etal),see /ecl/EKF/myekf.cpp 2019.9.6 增加了两个python脚本，px4_csv2txt.py ecl_offline_plot.py,实现了px4日志文件的自动转换为ecl_offline输入文件；ecl_offline输出文件的分析。详见python_tools文件，使用方法见readme.md

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.

EKF Documentation

• EKF Documentation and Tuning Guide

Building EKF

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

Alternatively, just run:

./build.sh