forked from Archive/PX4-Autopilot
Cut over attitude estimator to new-style config for all boards
This commit is contained in:
Lorenz Meier
parent
c52278f679
commit
3ecdca41e5
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@ -1,56 +0,0 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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APPNAME = attitude_estimator_ekf
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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CSRCS = attitude_estimator_ekf_main.c \
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attitude_estimator_ekf_params.c \
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codegen/eye.c \
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codegen/attitudeKalmanfilter.c \
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codegen/mrdivide.c \
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codegen/rdivide.c \
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codegen/attitudeKalmanfilter_initialize.c \
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codegen/attitudeKalmanfilter_terminate.c \
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codegen/rt_nonfinite.c \
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codegen/rtGetInf.c \
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codegen/rtGetNaN.c \
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codegen/norm.c \
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codegen/cross.c
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# XXX this is *horribly* broken
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INCLUDES += $(TOPDIR)/../mavlink/include/mavlink
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include $(APPDIR)/mk/app.mk
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@ -16,6 +16,11 @@ MODULES += drivers/lsm303d
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MODULES += drivers/l3gd20
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MODULES += systemcmds/eeprom
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#
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# Estimation modules (EKF / other filters)
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#
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MODULES += modules/attitude_estimator_ekf
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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@ -32,7 +37,6 @@ endef
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BUILTIN_COMMANDS := \
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$(call _B, adc, , 2048, adc_main ) \
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$(call _B, ardrone_interface, SCHED_PRIORITY_MAX-15, 2048, ardrone_interface_main ) \
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$(call _B, attitude_estimator_ekf, , 2048, attitude_estimator_ekf_main) \
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$(call _B, bl_update, , 4096, bl_update_main ) \
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$(call _B, blinkm, , 2048, blinkm_main ) \
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$(call _B, bma180, , 2048, bma180_main ) \
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@ -17,6 +17,11 @@ MODULES += drivers/px4fmu
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MODULES += drivers/rgbled
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MODULES += systemcmds/ramtron
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#
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# Estimation modules (EKF / other filters)
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#
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MODULES += modules/attitude_estimator_ekf
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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@ -32,7 +37,6 @@ endef
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# command priority stack entrypoint
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BUILTIN_COMMANDS := \
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$(call _B, adc, , 2048, adc_main ) \
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$(call _B, attitude_estimator_ekf, , 2048, attitude_estimator_ekf_main) \
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$(call _B, bl_update, , 4096, bl_update_main ) \
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$(call _B, blinkm, , 2048, blinkm_main ) \
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$(call _B, boardinfo, , 2048, boardinfo_main ) \
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@ -46,7 +46,6 @@
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#include <stdbool.h>
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#include <poll.h>
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#include <fcntl.h>
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#include <v1.0/common/mavlink.h>
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#include <float.h>
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#include <nuttx/sched.h>
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#include <sys/prctl.h>
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@ -0,0 +1,16 @@
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MODULE_NAME = attitude_estimator_ekf
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SRCS = attitude_estimator_ekf_main.c \
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attitude_estimator_ekf_params.c \
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codegen/attitudeKalmanfilter_initialize.c \
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codegen/attitudeKalmanfilter_terminate.c \
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codegen/attitudeKalmanfilter.c \
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codegen/cross.c \
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codegen/eye.c \
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codegen/mrdivide.c \
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codegen/norm.c \
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codegen/rdivide.c \
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codegen/rt_nonfinite.c \
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codegen/rtGetInf.c \
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codegen/rtGetNaN.c
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