0.6.0

To add minikalman/0.6.0 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.6.0"

To install the latest version, run

cargo add minikalman

Breaking Changes

Changed

• #31: The Regular and Extended Kalman Filter types were split, renamed and moved into separate modules. RegularKalman and ExtendedKalman now only provide their respective functionalities.

Fixed

• #32: Process noise is now separated into direct process noise, acting directly on the state transition, and control process noise, acting only on control inputs through the control matrix.

Pull Requests

• Add nalgebra support by @sunsided in #29
• Add angle measurement to radar example by @sunsided in #30
• Move Kalman Filter builders into own module by @sunsided in #31
• Add direct process noise covariance matrix by @sunsided in #32
• Add velocity measurement to radar example by @sunsided in #33

Full Changelog: v0.5.0...v0.6.0

0.5.0

To add minikalman/0.5.0 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.5.0"

To install the latest version, run

cargo add minikalman

Breaking Changes

This release reworks the construction of Kalman Filters on both no_std using macros, but adds
builder support for std and alloc targets. Extended Kalman Filters are now available as well.

Added

• #10: Builder types were added for Kalman filters, control inputs and observations. The KalmanFilterBuilder type serves as a simple entry point on alloc crate features.
• #21: Added the functions make_identity, make_scalar, make_comatrix and set_diagonal_to_scalar for square matrices.
• #25: Added support for Extended Kalman Filters.
• #28: micromath is now an optional dependency again.

Changed

• #9: Data ownership was reworked: Filters, control inputs and measurements/observations are now backed by a generic buffer type that can operate on stack- or heap allocated arrays, immutable and mutable references. Some features are gated behind the alloc crate feature.
• Types were remodeled into new modules in order to arrange them in a slightly more logical way.
• #18: "Inputs" naming was changed to "Control" to align more closely with common usages of Kalman filters.
• #20: "Measurements" naming was changed to "Observation" in places where it aligns with common usages of Kalman filters. In addition, type name ambiguity between process and measurement noise covariance was reduced.

Removed

• The create_buffer_X macros were removed from the crate due to their relatively complicated use.

Internal

• #8: The repository was restructured into a Cargo workspace to allow for easier handling of cross-compilation examples.
• #27: Added an EKF example with radar measurements of a moving object.

Pull Requests

• Convert to cargo workspace by @sunsided in #8
• Rework matrix data ownership by @sunsided in #9
• Add Kalman Filter, Input and Measurement builders by @sunsided in #12
• Remove minikalman-traits package by @sunsided in #16
• Move buffer types into buffer module by @sunsided in #17
• Rename inputs to controls by @sunsided in #18
• Rename measurements to observations by @sunsided in #20
• Add linear acceleration example by @sunsided in #21
• Simplify trait bounds and add inspection functions by @sunsided in #23
• Simplify vector and matrix inspection / application functions by @sunsided in #24
• Extended Kalman Filters by @sunsided in #25
• Remove apply_mut and inspect_mut in favor of apply and inspect by @sunsided in #26
• EKF example: Radar measurements of a moving object by @sunsided in #27
• Re-enable micromath support by @sunsided in #28

0.4.0

To add minikalman/0.4.0 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.4.0"

To install the latest version, run

cargo add minikalman

Changes

Full Changelog: v0.3.0...v0.4.0

Added

• Added the libm crate feature for libm support.
• Added the float crate feature to enable f32 and f64 built-in support.

Removed

• Removed the no_std crate feature in favor of the std feature (disabled by default).

Pull Requests

• Add cross-compilation example for STM32F303 by @sunsided in #7

v0.3.0

To add minikalman/0.3.0 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.3.0"

To install the latest version, run

cargo add minikalman

Changes

Full Changelog: v0.2.3...v0.3.0

Added

• Added support for fixed-point values via the fixed crate.

Changed

• The macros, matrix, filter and measurement structs are now generic on the data type. If no type is provided, it defaults to f32.

Removed

• The dependency on micromath was removed due to the generic type implementations.

Pull Requests

• Add generic type support by @sunsided in #5
• Add Fixed-Point implementation by @sunsided in #6

0.2.3

To add minikalman/0.2.3 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.2.3"

To install the latest version, run

cargo add minikalman

Changes

Full Changelog: v0.2.2...v0.2.3

Internal

• Improved documentation of Kalman and Measurement structs.

v0.2.2

To add minikalman/0.2.2 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.2.2"

To install the latest version, run

cargo add minikalman

Changes

Full Changelog: v0.2.1...v0.2.2

Internal

• Added usage examples to macro documentation.

Removed

• Removed duplicate create_buffer_P_temp and create_buffer_BQ_temp macros in favor of create_buffer_temp_P and create_buffer_temp_BQ.

v0.2.1

To add minikalman/0.2.1 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.2.1"

To install the latest version, run

cargo add minikalman

Changes

Full Changelog: v0.2.0...v0.2.1

Internal

• Conditionally enable docsrs feature gate when building documentation on docs.rs.

0.2.0

To add minikalman/0.2.0 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.2.0"

To install the latest version, run

cargo add minikalman

Changes

Internal

• Remove requirement to specify either std or no_std crate feature. If no_std is not specified, std is now implied. This resolves builds on docs.rs and quirks when using the crate.
• Some documentation hyperlinks were now corrected.

Auto-generated changelog

• Simplify docs.rs build and no_std/std feature handling by @sunsided in #4

Full Changelog: v0.1.0...v0.2.0

0.1.0

To add minikalman/0.1.0 to your project, run

cargo add [email protected]

or use

[dependencies]
minikalman = "0.1.0"

To install the latest version, run

cargo add minikalman

Changes

This release mainly improves on ensuring cross-platform builds, reporting code coverage and covering some additional cases with tests. In addition, the version was raised from 0.0.x to 0.1.0 to be a bit less intimidating.

Internal

• Set MSRV to 1.70.0 and Rust Edition to 2021.
• Added CI/CD cross-platform builds, code coverage and ensure examples and benchmarks build correctly.
• Remove dependency on stdint crate unless explicitly enabled with the stdint crate feature. This should unblock builds on Windows.

Auto-generated changelog

• Use const generics. by @ahmedcharles in #1
• Add tea constitution file by @sunsided in #2
• Add code coverage and cross-platform builds by @sunsided in #3

New Contributors

• @ahmedcharles made their first contribution in #1

Full Changelog: 0.0.2...v0.1.0