15 State EKF INS under development?

[rouhUAV]

Hi Dear developers.
Is the 15 State EKF INS under development? I could not find information of it in the readme and its codes in the example has been commented out. I was curious if this new version is finalized? I have used an elder version called "uNAVINS" lib and I couldn't get it to work. I wish I could put the new version into use.

[flybrianfly]

We use it all the time in our flight code for state estimation; specifically you could look at the implementation here. We have an open issue on this library to document the EKF when we have an opportunity. It's tough to document because EKFs are powerful, but not beginner friendly, which was a challenge with uNavINS (which was the same as our 15 state EKF, here). We also have a backlog of customer projects that we're working on right now, hopefully the implementation in the flight code makes sense, otherwise we do offer engineering services.

[rouhUAV]

I can't understand it :-(