CHANGELOG.md

Changelog

All notable changes to this project are documented in this file.

[2025-12-20] - V2: Squashed commits and added docs

Added

• Documentation files: CAMERA_IMU_CALIBRATION.md and NON_GPS_NAVIGATION.md
• Links to original Google Docs documentation

[2025-10-26] - README Update

Changed

• Updated main README.md with improved documentation structure

[2025-10-11] - Completed Integration

Added

• Complete NGPS ROS2 package (ap_ngps_ros2)
  • ROS2 node for visual geo-localization using LightGlue/SuperPoint
  • Launch files for NGPS localization and unified system
  • Configuration files (ngps_config.yaml, unified_system_config.yaml)
  • Installation scripts and dependencies
  • Package metadata (CMakeLists.txt, package.xml)
  • Test files for NGPS node and rotation detection
  • Comprehensive README with usage instructions

Changed

• Integrated NGPS localization node with ROS2 ecosystem
• Added unified launch files for complete system integration

[2025-06-09] - Transformer Based Matcher

Added

• Initial transformer-based feature matching implementation
• Jupyter notebook (ap_ngps_2(3).ipynb) for experimentation and development

Changed

• Updated UKF README.md with additional documentation

[2025-06-05] - UKF and VIO Integration

Added

• UKF Package (ap_ukf)

  • Unscented Kalman Filter implementation for sensor fusion
  • Core state fusion logic (stateFuser.h, stateMath.h, stateTypes.h)
  • ROS2 integration (fusionRos.h, fusionRos.cpp)
  • Launch files and configuration
  • Comprehensive test suite (localization_tests, ukf_tests, ukf_helpers_tests)
  • README with state estimation documentation

• VIO Package (ap_vips)

  • Visual-Inertial Odometry system
  • Camera models support
  • Package structure and documentation

Changed

• Project structure expanded to support multi-sensor fusion architecture

[2025-06-04] - Initial Commit

Added

• Initial project structure
• Basic README.md
• LICENSE file
• Foundation for NGPS flight system