From 38c02ea29a9e997eb6d69cf830b4c91bb9adea15 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 11 Jul 2022 11:39:09 -0400
Subject: [PATCH] wind_estimator: cmake add symforce generation helper target
 (wind_estimator_generate_airspeed_fusion)

---
 Tools/astyle/files_to_check_code_style.sh               | 1 +
 src/lib/wind_estimator/CMakeLists.txt                   | 9 +++++++++
 src/lib/wind_estimator/python/derivation.py             | 1 -
 src/lib/wind_estimator/python/generated/.gitignore      | 1 +
 src/lib/wind_estimator/python/generated/fuse_airspeed.h | 4 ++--
 5 files changed, 13 insertions(+), 3 deletions(-)
 create mode 100644 src/lib/wind_estimator/python/generated/.gitignore

diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index 6f77a514ab..33a98569ae 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -17,6 +17,7 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/wind_estimator/python/generated -prune -o \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
diff --git a/src/lib/wind_estimator/CMakeLists.txt b/src/lib/wind_estimator/CMakeLists.txt
index 78c94f104c..8c47f08c2d 100644
--- a/src/lib/wind_estimator/CMakeLists.txt
+++ b/src/lib/wind_estimator/CMakeLists.txt
@@ -36,3 +36,12 @@ add_library(wind_estimator
 	WindEstimator.hpp
 )
 add_dependencies(wind_estimator prebuild_targets)
+
+add_custom_target(wind_estimator_generate_airspeed_fusion
+	COMMAND ${PYTHON_EXECUTABLE} derivation.py
+	#DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/python/derivation.py
+	#BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/python/generated/fuse_airspeed.h
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/python
+	COMMENT "Generating fuse_airspeed"
+	USES_TERMINAL
+)
diff --git a/src/lib/wind_estimator/python/derivation.py b/src/lib/wind_estimator/python/derivation.py
index 643cf2a1a0..c5948eb422 100644
--- a/src/lib/wind_estimator/python/derivation.py
+++ b/src/lib/wind_estimator/python/derivation.py
@@ -44,7 +44,6 @@ import fileinput
 with fileinput.FileInput(os.path.abspath(metadata.generated_files[0]), inplace=True, backup='.bak') as file:
     for line in file:
         line = line.replace("std::max", "math::max")
-        line = line.replace("std", "matrix")
         line = line.replace("Eigen", "matrix")
         line = line.replace("matrix/Dense", "matrix/math.hpp")
         print(line, end='')
diff --git a/src/lib/wind_estimator/python/generated/.gitignore b/src/lib/wind_estimator/python/generated/.gitignore
new file mode 100644
index 0000000000..751553b3ac
--- /dev/null
+++ b/src/lib/wind_estimator/python/generated/.gitignore
@@ -0,0 +1 @@
+*.bak
diff --git a/src/lib/wind_estimator/python/generated/fuse_airspeed.h b/src/lib/wind_estimator/python/generated/fuse_airspeed.h
index 89babbe870..54b63ffaca 100644
--- a/src/lib/wind_estimator/python/generated/fuse_airspeed.h
+++ b/src/lib/wind_estimator/python/generated/fuse_airspeed.h
@@ -43,8 +43,8 @@ void FuseAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local,
   // Intermediate terms (11)
   const Scalar _tmp0 = -state(0, 0) + v_local(0, 0);
   const Scalar _tmp1 = -state(1, 0) + v_local(1, 0);
-  const Scalar _tmp2 = matrix::sqrt(Scalar(matrix::pow(_tmp0, Scalar(2)) + matrix::pow(_tmp1, Scalar(2)) +
-                                        epsilon + matrix::pow(v_local(2, 0), Scalar(2))));
+  const Scalar _tmp2 = std::sqrt(Scalar(std::pow(_tmp0, Scalar(2)) + std::pow(_tmp1, Scalar(2)) +
+                                        epsilon + std::pow(v_local(2, 0), Scalar(2))));
   const Scalar _tmp3 = state(2, 0) / _tmp2;
   const Scalar _tmp4 = _tmp0 * _tmp3;
   const Scalar _tmp5 = _tmp1 * _tmp3;