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AgeCommit message (Collapse)Author
2017-03-28move aboveWaterMartin Miller
() back to main
2017-03-28updateMartin Miller
2017-03-27EKF is workingMartin Miller
2017-03-27Change {State,Body}::enu() to pos()Martin Miller
2017-03-27Tweak mainMartin Miller
2017-03-26Fully implemented EKF.Martin Miller
Still needs to be debugged as the result is way off, but it is all there.
2017-03-26Set height above water.Martin Miller
2017-03-22Add feature handling to stateMartin Miller
2017-03-22Read in image measurements from fileMartin Miller
2017-03-21small changesMartin Miller
2017-03-19Add Camera classMartin Miller
2017-03-19Fix img handlingMartin Miller
2017-03-19Adjust UTM output and bias.Martin Miller
2017-03-18Start Feature::h() methodMartin Miller
2017-03-18Major rewrite moves state variables into state.Martin Miller
Rather than maintain X and P in the main function they are moved into the body and state classes, respectively. This will become much more important when features are added and the accounting becomes more complicated.
2017-03-18Add fake z kalman updateMartin Miller
2017-03-18Update P during imuCallbackMartin Miller
2017-03-18Add support for INSCOVS.Martin Miller
The position and velocity covariances are rotated into the correct frames: NED and FRD.
2017-03-18Adjusted coordinate frame to NED and FRD.Martin Miller
The new coordinates frame for the world and the body correspond to Junho's code and work well in other versions of this code.
2017-03-17Integration is implemented. But there are problems.Martin Miller
The coordinates are not working correctly. When I run integration on a known dataset the body seems to turn in the opposite direction of reality. It's probably best to change it to NED and FRD. Currenty it is ENU and RFU.
2017-03-17Write initial "callback" functions for no ROS.Martin Miller
2017-03-17Write C input parser.Martin Miller
Sensor inputs can be read in from stdin if compiled without USE_ROS. Now "callback" functions can be written.