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RPL SQuEAK Filter

The Simple QUaternion Extended Attitude Kalman Filter.

That's attitude, not altitude.

Compiling and running

To run the simulation tests:

  1. Install Eigen3

  2. Run

mkdir build && cd build && mkdir output
cmake ..        # generate Makefile
cmake --build . # build executable
./run           # run tests, output written to ./output

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Simple QUaternion Extended Attitude Kalman Filter.

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