Changelog

All notable changes to this project will be documented in this file. This project uses Semantic Versioning.

Unreleased

Added

Added copy_to and copy_from to matrix trait.

Changed

The copy matrix operation is now deprecated in favor of copy_to.

0.6.0 - 2024-06-22

Note: This release contains breaking changes.

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.

Internal

#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.

0.5.0 - 2024-06-20

Note: This release contains major breaking changes.

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.

0.4.0 - 2024-06-07

Added

#7: Added the libm crate feature for libm support.
#7: 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).

Internal

#7: Add an example project for STM32F303 cross-compilation.
Added CI/CD spell-checks and pre-commit hooks.

0.3.0 - 2024-06-04

Added

#6: Added support for fixed-point values via the fixed crate.

Changed

#5: 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.

0.2.3 - 2024-06-03

Internal

Improved documentation of Kalman and Measurement structs.

0.2.2 - 2024-06-03

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.

0.2.1 - 2024-06-03

Internal

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

0.2.0 - 2024-06-03

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.

0.1.0 - 2024-06-03

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.

0.0.2 - 2023-07-11

Added

Initial release as a port from the kalman-clib library.