Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 01:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: allow for double EKF build

Browse Source
This commit is contained in:
Andrew Tridgell 2021-05-04 21:12:24 +10:00 committed by Randy Mackay
parent 5bccdf5e5a
commit df9950fbb3
3 changed files with 15 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
Tools/CPUInfo/EKF_Maths.h
View File

@ -4,10 +4,9 @@
data structure for measuring speed of EKF mag fusion code data structure for measuring speed of EKF mag fusion code
*/ */
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Math/ftype.h>
#include <stdint.h> #include <stdint.h>
typedef float ftype;
class EKF_Maths { class EKF_Maths {
public: public:
EKF_Maths() {} EKF_Maths() {}

4
Tools/ardupilotwaf/boards.py
View File

@ -342,10 +342,10 @@ class Board:
env.ROMFS_FILES += [(f,'libraries/AP_OSD/fonts/'+f)] env.ROMFS_FILES += [(f,'libraries/AP_OSD/fonts/'+f)]
if cfg.options.ekf_double: if cfg.options.ekf_double:
env.CXXFLAGS += ['-DHAL_EKF_DOUBLE=1'] env.CXXFLAGS += ['-DHAL_WITH_EKF_DOUBLE=1']
if cfg.options.ekf_single: if cfg.options.ekf_single:
env.CXXFLAGS += ['-DHAL_EKF_DOUBLE=0'] env.CXXFLAGS += ['-DHAL_WITH_EKF_DOUBLE=0']
def pre_build(self, bld): def pre_build(self, bld):
'''pre-build hook that gets called before dynamic sources''' '''pre-build hook that gets called before dynamic sources'''

12
Tools/autotest/sim_vehicle.py
View File

@ -327,6 +327,12 @@ def do_build(opts, frame_options):
if opts.postype_single: if opts.postype_single:
cmd_configure.append("--postype-single") cmd_configure.append("--postype-single")
if opts.ekf_double:
cmd_configure.append("--ekf-double")
if opts.ekf_single:
cmd_configure.append("--ekf-single")
pieces = [shlex.split(x) for x in opts.waf_configure_args] pieces = [shlex.split(x) for x in opts.waf_configure_args]
for piece in pieces: for piece in pieces:
cmd_configure.extend(piece) cmd_configure.extend(piece)
@ -1088,6 +1094,12 @@ group_sim.add_option("", "--sysid",
group_sim.add_option("--postype-single", group_sim.add_option("--postype-single",
action='store_true', action='store_true',
help="force single precision postype_t") help="force single precision postype_t")
group_sim.add_option("--ekf-double",
action='store_true',
help="use double precision in EKF")
group_sim.add_option("--ekf-single",
action='store_true',
help="use single precision in EKF")
parser.add_option_group(group_sim) parser.add_option_group(group_sim)