Resurrected C++ change commit, now back up to same state as master

src/modules/attitude_estimator_ekf/Makefile

@@ -0,0 +1,57 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+APPNAME		 = attitude_estimator_ekf
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+CXXSRCS		 = attitude_estimator_ekf_main.cpp
+
+CSRCS		 = attitude_estimator_ekf_params.c \
+		   codegen/eye.c \
+		   codegen/attitudeKalmanfilter.c \
+		   codegen/mrdivide.c \
+		   codegen/rdivide.c \
+		   codegen/attitudeKalmanfilter_initialize.c \
+		   codegen/attitudeKalmanfilter_terminate.c \
+		   codegen/rt_nonfinite.c \
+		   codegen/rtGetInf.c \
+		   codegen/rtGetNaN.c \
+		   codegen/norm.c \
+		   codegen/cross.c 
+
+
+# XXX this is *horribly* broken
+INCLUDES	+= $(TOPDIR)/../mavlink/include/mavlink
+
+include $(APPDIR)/mk/app.mk

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -46,6 +46,7 @@
 #include <stdbool.h>
 #include <poll.h>
 #include <fcntl.h>
+#include <v1.0/common/mavlink.h>
 #include <float.h>
 #include <nuttx/sched.h>
 #include <sys/prctl.h>
@@ -65,11 +66,17 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 #include "codegen/attitudeKalmanfilter_initialize.h"
 #include "codegen/attitudeKalmanfilter.h"
 #include "attitude_estimator_ekf_params.h"
+#ifdef __cplusplus
+}
+#endif
 
-__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
+extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
@@ -264,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* Main loop*/
 	while (!thread_should_exit) {
 
-		struct pollfd fds[2] = {
+		struct pollfd fds[2];
-			{ .fd = sub_raw,   .events = POLLIN },
+		fds[0].fd = sub_raw;
-			{ .fd = sub_params, .events = POLLIN }
+		fds[0].events = POLLIN;
-		};
+		fds[1].fd = sub_params;
+		fds[1].events = POLLIN;
 		int ret = poll(fds, 2, 1000);
 
 		if (ret < 0) {

src/modules/attitude_estimator_ekf/module.mk

@@ -1,16 +1,53 @@
+############################################################################
+#
+#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Attitude estimator (Extended Kalman Filter)
+#
 
 MODULE_NAME	 = attitude_estimator_ekf
-SRCS		 = attitude_estimator_ekf_main.c \
+CXXSRCS		 = attitude_estimator_ekf_main.cpp
-			   attitude_estimator_ekf_params.c \
+
+SRCS		 = attitude_estimator_ekf_params.c \
+		   codegen/eye.c \
+		   codegen/attitudeKalmanfilter.c \
+		   codegen/mrdivide.c \
+		   codegen/rdivide.c \
 		   codegen/attitudeKalmanfilter_initialize.c \
 		   codegen/attitudeKalmanfilter_terminate.c \
-			   codegen/attitudeKalmanfilter.c \
-			   codegen/cross.c \
-			   codegen/eye.c \
-			   codegen/mrdivide.c \
-			   codegen/norm.c \
-			   codegen/rdivide.c \
 		   codegen/rt_nonfinite.c \
 		   codegen/rtGetInf.c \
-			   codegen/rtGetNaN.c
+		   codegen/rtGetNaN.c \
+		   codegen/norm.c \
+		   codegen/cross.c