Height Estimation and Marker Detection

Package Description

The package is aimed at estimating orientation information and height information using IMU and px4flow Extended Kalman Filter fusion. The other part of the package deals with detection of QR codes and barcodes.

Package Outline

The package has four source files:

1. main.cpp: Contains two threads. One for height and attitude estimation other for marker detection.
2. kalman.cpp: EKF fusion of IMU and px4flow for attitude and height estimation.
3. sonar.cpp: A median filter for sonar outlier rejection.
4. marker.cpp: Barcode and QR marker detector.