├── .gitignore ├── CMakeLists.txt ├── Dockerfile ├── LICENSE ├── README ├── README.md ├── Rakefile ├── VERSION ├── blinkpowerled.sh ├── bump-version.sh ├── launch ├── ekf_localization.launch └── raspicam_node.launch ├── mocap_rviz_config.rviz ├── msg ├── Battery.msg ├── Mode.msg ├── RC.msg ├── State.msg ├── StateGroundTruth.msg └── UkfStats.msg ├── networking ├── connect_to_user_wifi.py ├── connect_to_user_wifi.sh ├── generate_wpa_supplicant_conf.sh └── wpa_supplicant.conf.template ├── package.xml ├── params ├── ekf.yaml ├── multiwii.yaml └── picamera.yaml ├── pi.screenrc ├── release_instructions ├── scripts ├── MATL.py ├── MATL_helper.py ├── MATL_slam_helper.py ├── README.md ├── StateEstimators │ ├── filterpy │ │ ├── LICENSE │ │ ├── __init__.py │ │ ├── changelog.txt │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── discretization.py │ │ │ ├── helpers.py │ │ │ ├── kinematic.py │ │ │ └── tests │ │ │ │ ├── test_discretization.py │ │ │ │ └── test_helpers.py │ │ ├── discrete_bayes │ │ │ ├── __init__.py │ │ │ ├── discrete_bayes.py │ │ │ └── tests │ │ │ │ └── test_discrete_bayes.py │ │ ├── examples │ │ │ ├── GetRadar.py │ │ │ ├── README.md │ │ │ ├── RadarUKF.py │ │ │ ├── __init__.py │ │ │ ├── bearing_only.py │ │ │ └── radar_sim.py │ │ ├── gh │ │ │ ├── __init__.py │ │ │ ├── gh_filter.py │ │ │ └── tests │ │ │ │ └── test_gh.py │ │ ├── hinfinity │ │ │ ├── __init__.py │ │ │ ├── hinfinity_filter.py │ │ │ └── tests │ │ │ │ └── test_hinfinity.py │ │ ├── kalman │ │ │ ├── .gitignore │ │ │ ├── CubatureKalmanFilter.py │ │ │ ├── EKF.py │ │ │ ├── IMM.py │ │ │ ├── UKF.py │ │ │ ├── __init__.py │ │ │ ├── ensemble_kalman_filter.py │ │ │ ├── fading_memory.py │ │ │ ├── fixed_lag_smoother.py │ │ │ ├── information_filter.py │ │ │ ├── kalman_filter.py │ │ │ ├── mmae.py │ │ │ ├── sigma_points.py │ │ │ ├── square_root.py │ │ │ ├── tests │ │ │ │ ├── test_ckf.py │ │ │ │ ├── test_ekf.py │ │ │ │ ├── test_enkf.py │ │ │ │ ├── test_fls.py │ │ │ │ ├── test_fm.py │ │ │ │ ├── test_imm.py │ │ │ │ ├── test_information.py │ │ │ │ ├── test_kf.py │ │ │ │ ├── test_mmae.py │ │ │ │ ├── test_rts.py │ │ │ │ ├── test_sensor_fusion.py │ │ │ │ ├── test_sqrtkf.py │ │ │ │ ├── test_ukf.py │ │ │ │ └── ukf2.py │ │ │ └── unscented_transform.py │ │ ├── leastsq │ │ │ ├── __init__.py │ │ │ ├── least_squares.py │ │ │ └── tests │ │ │ │ └── test_lsq.py │ │ ├── memory │ │ │ ├── __init__.py │ │ │ ├── fading_memory.py │ │ │ └── tests │ │ │ │ └── test_fading_memory.py │ │ ├── monte_carlo │ │ │ ├── __init__.py │ │ │ └── resampling.py │ │ └── stats │ │ │ ├── __init__.py │ │ │ ├── stats.py │ │ │ └── tests │ │ │ └── test_stats.py │ ├── state_estimator_ema.py │ ├── state_estimator_ukf_12d.py │ ├── state_estimator_ukf_2d.py │ └── state_estimator_ukf_7d.py ├── analyze_flow.py ├── analyze_phase.py ├── archive │ └── UKF │ │ ├── state_estimator_ukf_1d_roslib.py │ │ ├── state_estimator_ukf_2d.py │ │ ├── state_estimator_ukf_7d.py │ │ ├── state_estimator_ukf_test_1.py │ │ └── state_estimator_ukf_test_2.py ├── calibrateAcc.py ├── command_values.py ├── drone_simulator.py ├── dt_vl53l0x │ ├── VL53L0X.py │ ├── __init__.py │ └── libvl53l0x.so ├── fcPID.py ├── flight_controller_node.py ├── getch.py ├── h2rMultiWii.py ├── joy_translation.py ├── key_translation.py ├── localization_helper.py ├── map.jpg ├── mocap_node.py ├── mocap_tf_republisher.py ├── object_tracking.py ├── offboard_localization.py ├── offboard_slam.py ├── onboard_localization.py ├── onboard_slam.py ├── optical_flow_node.py ├── pid_class.py ├── pid_controller.py ├── rigid_transform_node.py ├── ros_stuff.py ├── slam_helper.py ├── state_estimator.py ├── tester_pid_class.py ├── tests │ ├── checkbat.py │ ├── fc_test.py │ ├── feature_test.py │ ├── h2rMultiWii_test.py │ └── test.py ├── thread_queue.py ├── three_dim_vec.py ├── tof_node.py ├── utils.py ├── vision_flow_and_phase.py ├── vision_localization_offboard.py └── vision_localization_onboard.py ├── setup.sh ├── setup_for_managed_mode.sh ├── setup_for_master_mode.sh ├── start_pidrone_code.sh └── web ├── .DS_Store ├── css ├── bootstrap-grid.css ├── bootstrap-grid.css.map ├── bootstrap-grid.min.css ├── bootstrap-grid.min.css.map ├── bootstrap-reboot.css ├── bootstrap-reboot.css.map ├── bootstrap-reboot.min.css ├── bootstrap-reboot.min.css.map ├── bootstrap.css ├── bootstrap.css.map ├── bootstrap.min.css ├── bootstrap.min.css.map └── main.css ├── index.html ├── js ├── Chart.bundle.min.js ├── ColladaLoader.js ├── ColladaLoader2.js ├── STLLoader.js ├── bootstrap.bundle.js ├── bootstrap.bundle.js.map ├── bootstrap.bundle.min.js ├── bootstrap.bundle.min.js.map ├── bootstrap.js ├── bootstrap.js.map ├── bootstrap.min.js ├── bootstrap.min.js.map ├── eventemitter2.js ├── eventemitter2.min.js ├── jquery-3.3.1.min.js ├── main.js ├── mjpegcanvas.js ├── mjpegcanvas.min.js ├── quaternion.min.js ├── quaternion.min.js.LICENSE ├── ros3d.js ├── roslib.js └── three.js └── nocamera.jpg /.gitignore: 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