mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.6 KiB
C++
69 lines
1.6 KiB
C++
//
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// Ensure that AP_NavEKF libraries can be compiled when not linked to
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// anything except the DAL.
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//
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#include <AP_DAL/AP_DAL.h>
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#include <AP_Logger/AP_Logger.h>
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void AP_Param::setup_object_defaults(void const*, AP_Param::GroupInfo const*) {}
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int AP_HAL::Util::vsnprintf(char*, size_t, char const*, va_list) { return -1; }
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void *nologger = nullptr;
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AP_Logger &AP::logger() {
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return *((AP_Logger*)nologger); // this is not usually a good idea...
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}
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void AP_Logger::WriteBlock(void const*, unsigned short) {}
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class AP_HAL_DAL_Standalone : public AP_HAL::HAL {
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public:
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AP_HAL_DAL_Standalone() :
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AP_HAL::HAL(
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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nullptr
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) {}
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void run(int argc, char* const argv[], Callbacks* callbacks) const override {}
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void setup() { }
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void loop() { }
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};
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AP_HAL_DAL_Standalone _hal;
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const AP_HAL::HAL &hal = _hal;
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NavEKF2 navekf2;
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NavEKF3 navekf3;
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int main(int argc, const char *argv[])
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{
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navekf2.InitialiseFilter();
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navekf3.InitialiseFilter();
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navekf2.UpdateFilter();
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navekf3.UpdateFilter();
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return navekf2.healthy() && navekf3.healthy()?0:1;
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}
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