├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── CONTRIBUTING.md ├── EKF ├── CMakeLists.txt ├── Myekf2.cpp ├── Myekf2.h ├── RingBuffer.h ├── airspeed_fusion.cpp ├── common.h ├── control.cpp ├── covariance.cpp ├── documentation │ ├── Output Predictor.pdf │ ├── Process and Observation Models.pdf │ ├── Reference List.pdf │ └── readme.txt ├── drag_fusion.cpp ├── ekf.cpp ├── ekf.h ├── ekf_helper.cpp ├── estimator_interface.cpp ├── estimator_interface.h ├── gps_checks.cpp ├── mag_fusion.cpp ├── matlab │ ├── EKF_replay │ │ ├── Common │ │ │ ├── AlignTilt.m │ │ │ ├── ConvertToC.m │ │ │ ├── ConvertToM.m │ │ │ ├── EulToQuat.m │ │ │ ├── LLH2NED.m │ │ │ ├── NormQuat.m │ │ │ ├── OptimiseAlgebra.m │ │ │ ├── Quat2Tbn.m │ │ │ ├── QuatDivide.m │ │ │ ├── QuatMult.m │ │ │ ├── QuatToEul.m │ │ │ ├── RotToQuat.m │ │ │ ├── convert_apm_data.m │ │ │ ├── convert_px4_distance_sensor_csv_data.m │ │ │ ├── convert_px4_optical_flow_csv_data.m │ │ │ ├── convert_px4_sensor_combined_csv_data.m │ │ │ └── convert_px4_vehicle_gps_position_csv.m │ │ ├── Filter │ │ │ ├── AlignHeading.m │ │ │ ├── ConstrainStates.m │ │ │ ├── FuseBaroHeight.m │ │ │ ├── FuseBodyVel.m │ │ │ ├── FuseMagDeclination.m │ │ │ ├── FuseMagHeading.m │ │ │ ├── FuseMagnetometer.m │ │ │ ├── FuseOpticalFlow.m │ │ │ ├── FusePosition.m │ │ │ ├── FuseVelocity.m │ │ │ ├── GenerateEquations24.m │ │ │ ├── InitCovariance.m │ │ │ ├── InitStates.m │ │ │ ├── PlotData.m │ │ │ ├── PredictCovariance.m │ │ │ ├── PredictStates.m │ │ │ ├── RunFilter.m │ │ │ ├── SetParameterDefaults.m │ │ │ ├── SetParameters.m │ │ │ ├── calcF24.m │ │ │ ├── calcH_HDG.m │ │ │ ├── calcH_LOSX.m │ │ │ ├── calcH_LOSY.m │ │ │ ├── calcH_MAGD.m │ │ │ ├── calcH_MAGX.m │ │ │ ├── calcH_MAGY.m │ │ │ ├── calcH_MAGZ.m │ │ │ ├── calcH_VELX.m │ │ │ ├── calcH_VELY.m │ │ │ ├── calcH_VELZ.m │ │ │ ├── calcQ24.m │ │ │ ├── find_best_gps_delay.m │ │ │ ├── quat_to_euler_error_transfer_matrix.m │ │ │ ├── replay_apm_data.m │ │ │ ├── replay_px4_data.m │ │ │ ├── replay_px4_optflow_data.m │ │ │ └── transfer_matrix.m │ │ ├── SensorCalibration │ │ │ ├── allan.m │ │ │ ├── compare_mag_calibration.m │ │ │ └── ellipsoid_fit.m │ │ └── readme.txt │ ├── README.md │ ├── analysis │ │ ├── estimatorLogViewerPX4.m │ │ ├── importPX4log.m │ │ └── usageSamples.m │ ├── generated │ │ ├── Inertial Nav EKF │ │ │ ├── Airspeed Fusion.txt │ │ │ ├── Covariance Prediction.txt │ │ │ ├── Magnetic Declination Fusion.txt │ │ │ ├── Magnetometer Fusion.txt │ │ │ ├── Notes.txt │ │ │ ├── Optical Flow Fusion.txt │ │ │ ├── Sideslip Fusion.txt │ │ │ ├── Simple Magnetometer Fusion.txt │ │ │ └── Yaw Angle Fusion.txt │ │ └── README.md │ └── scripts │ │ ├── Inertial Nav EKF │ │ ├── Airspeed.mat │ │ ├── C_code24.txt │ │ ├── ConvertToC.m │ │ ├── ConvertToM.m │ │ ├── Drag.mat │ │ ├── EulToQuat.m │ │ ├── GenerateNavFilterEquations.m │ │ ├── H_LOSX.c │ │ ├── H_LOSY.c │ │ ├── H_VELX.c │ │ ├── H_VELY.c │ │ ├── H_VELZ.c │ │ ├── K_LOSX.c │ │ ├── K_LOSY.c │ │ ├── K_VELX.c │ │ ├── K_VELY.c │ │ ├── K_VELZ.c │ │ ├── LOSX.c │ │ ├── LOSY.c │ │ ├── M_code24.txt │ │ ├── Magnetometer.mat │ │ ├── NormQuat.m │ │ ├── OptimiseAlgebra.m │ │ ├── Q_airdata.c │ │ ├── Quat2Tbn.m │ │ ├── QuatDivide.m │ │ ├── QuatErrTransferEquations.m │ │ ├── QuatMult.m │ │ ├── QuatToEul.m │ │ ├── RotToQuat.m │ │ ├── SaveScriptCode.m │ │ ├── Sideslip.mat │ │ ├── StateAndCovariancePrediction.mat │ │ ├── StatePrediction.mat │ │ ├── SymbolicOutput24.mat │ │ ├── SymbolicOutput24.txt │ │ ├── Tbn_312.c │ │ ├── Tbn_321.c │ │ ├── Tbn_quat.c │ │ ├── calcH_YAW312.c │ │ ├── calcH_YAW321.c │ │ ├── calcMAGD.c │ │ ├── derive_air_data_errors.m │ │ ├── fix_c_code.m │ │ ├── polar2cart_cov.m │ │ ├── quat2yaw312.m │ │ ├── quat2yaw321.m │ │ ├── quatCovMat.c │ │ ├── rotVarVec.c │ │ ├── temp1.mat │ │ ├── temp2.mat │ │ ├── temp3.mat │ │ ├── test_output_filter_gains.m │ │ ├── yaw_input_312.c │ │ └── yaw_input_321.c │ │ └── Terrain Estimator │ │ ├── GenerateEquationsTerrainEstimator.m │ │ ├── H_OPT.c │ │ └── H_RNG.c ├── optflow_fusion.cpp ├── sideslip_fusion.cpp ├── swig │ ├── CMakeLists.txt │ ├── ecl_EKF.i │ ├── numpy.i │ └── python │ │ ├── CMakeLists.txt │ │ ├── setup.py.in │ │ └── test.py ├── terrain_estimator.cpp ├── tests │ ├── CMakeLists.txt │ ├── base │ │ ├── CMakeLists.txt │ │ └── base.cpp │ ├── pytest │ │ ├── CMakeLists.txt │ │ ├── ekf_test.py │ │ ├── lint.py │ │ ├── plot_utils.py │ │ ├── requirements.txt │ │ ├── test_altitude.py │ │ ├── test_basics.py │ │ ├── test_sampling.py │ │ └── test_utils.py │ └── ringbuffer │ │ ├── CMakeLists.txt │ │ └── ringbuffer.cpp └── vel_pos_fusion.cpp ├── Jenkinsfile ├── LICENSE ├── Makefile ├── README.md ├── airdata ├── CMakeLists.txt ├── WindEstimator.cpp ├── WindEstimator.hpp └── python │ └── wind_est_derivation.py ├── attitude_fw ├── CMakeLists.txt ├── ecl_controller.cpp ├── ecl_controller.h ├── ecl_pitch_controller.cpp ├── ecl_pitch_controller.h ├── ecl_roll_controller.cpp ├── ecl_roll_controller.h ├── ecl_wheel_controller.cpp ├── ecl_wheel_controller.h ├── ecl_yaw_controller.cpp └── ecl_yaw_controller.h ├── data └── rtk_vision │ ├── 03_19_48_vision_rtk_fuse.ulg │ ├── 03_19_48_vision_rtk_fuse_actuator_controls_0_0.csv │ ├── 03_19_48_vision_rtk_fuse_actuator_outputs_0.csv │ ├── 03_19_48_vision_rtk_fuse_actuator_outputs_1.csv │ ├── 03_19_48_vision_rtk_fuse_battery_status_0.csv │ ├── 03_19_48_vision_rtk_fuse_battery_status_1.csv │ ├── 03_19_48_vision_rtk_fuse_cpuload_0.csv │ ├── 03_19_48_vision_rtk_fuse_ekf2_innovations_0.csv │ ├── 03_19_48_vision_rtk_fuse_ekf2_timestamps_0.csv │ ├── 03_19_48_vision_rtk_fuse_estimator_status_0.csv │ ├── 03_19_48_vision_rtk_fuse_home_position_0.csv │ ├── 03_19_48_vision_rtk_fuse_mission_result_0.csv │ ├── 03_19_48_vision_rtk_fuse_ping_0.csv │ ├── 03_19_48_vision_rtk_fuse_position_setpoint_triplet_0.csv │ ├── 03_19_48_vision_rtk_fuse_rate_ctrl_status_0.csv │ ├── 03_19_48_vision_rtk_fuse_safety_0.csv │ ├── 03_19_48_vision_rtk_fuse_sensor_combined_0.csv │ ├── 03_19_48_vision_rtk_fuse_sensor_preflight_0.csv │ ├── 03_19_48_vision_rtk_fuse_system_power_0.csv │ ├── 03_19_48_vision_rtk_fuse_telemetry_status_0.csv │ ├── 03_19_48_vision_rtk_fuse_timesync_status_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_air_data_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_attitude_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_attitude_setpoint_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_global_position_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_gps_position_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_land_detected_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_local_position_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_local_position_setpoint_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_magnetometer_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_rates_setpoint_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_status_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_status_flags_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_vision_attitude_0.csv │ ├── 03_19_48_vision_rtk_fuse_vehicle_vision_position_0.csv │ └── px4_csv2txt.py ├── docs └── Doxyfile.in ├── ecl.h ├── geo ├── CMakeLists.txt ├── geo.cpp └── geo.h ├── geo_lookup ├── CMakeLists.txt ├── geo_mag_declination.cpp └── geo_mag_declination.h ├── l1 ├── CMakeLists.txt ├── ecl_l1_pos_controller.cpp └── ecl_l1_pos_controller.h ├── mathlib ├── CMakeLists.txt ├── mathlib.cpp └── mathlib.h ├── matrix ├── .clang-tidy ├── .gitignore ├── .gitmodules ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc │ ├── .gitignore │ ├── euler_gimbal_lock.ipynb │ └── nasa_rotation_def.pdf ├── matrix │ ├── AxisAngle.hpp │ ├── Dcm.hpp │ ├── Euler.hpp │ ├── Matrix.hpp │ ├── Quaternion.hpp │ ├── Scalar.hpp │ ├── SquareMatrix.hpp │ ├── Vector.hpp │ ├── Vector2.hpp │ ├── Vector3.hpp │ ├── filter.hpp │ ├── helper_functions.hpp │ ├── integration.hpp │ ├── math.hpp │ └── stdlib_imports.hpp ├── scripts │ └── format.sh └── test │ ├── CMakeLists.txt │ ├── attitude.cpp │ ├── copyto.cpp │ ├── filter.cpp │ ├── hatvee.cpp │ ├── helper.cpp │ ├── integration.cpp │ 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