forked from Archive/PX4-Autopilot
Resurrected C++ change commit, now back up to same state as master
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c71f4cf869
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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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CXXSRCS = attitude_estimator_ekf_main.cpp
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CSRCS = 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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@ -46,6 +46,7 @@
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#include <stdbool.h>
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#include <stdbool.h>
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#include <poll.h>
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#include <poll.h>
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#include <fcntl.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 <float.h>
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#include <nuttx/sched.h>
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#include <nuttx/sched.h>
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#include <sys/prctl.h>
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#include <sys/prctl.h>
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@ -65,11 +66,17 @@
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#include <systemlib/perf_counter.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/err.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "codegen/attitudeKalmanfilter_initialize.h"
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#include "codegen/attitudeKalmanfilter_initialize.h"
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#include "codegen/attitudeKalmanfilter.h"
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#include "codegen/attitudeKalmanfilter.h"
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#include "attitude_estimator_ekf_params.h"
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#include "attitude_estimator_ekf_params.h"
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#ifdef __cplusplus
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}
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#endif
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__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
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extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static bool thread_running = false; /**< Deamon status flag */
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@ -264,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* Main loop*/
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/* Main loop*/
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while (!thread_should_exit) {
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while (!thread_should_exit) {
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struct pollfd fds[2] = {
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struct pollfd fds[2];
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{ .fd = sub_raw, .events = POLLIN },
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fds[0].fd = sub_raw;
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{ .fd = sub_params, .events = POLLIN }
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fds[0].events = POLLIN;
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};
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fds[1].fd = sub_params;
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fds[1].events = POLLIN;
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int ret = poll(fds, 2, 1000);
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int ret = poll(fds, 2, 1000);
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if (ret < 0) {
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if (ret < 0) {
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@ -1,16 +1,53 @@
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############################################################################
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#
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# Copyright (C) 2012-2013 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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#
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# Attitude estimator (Extended Kalman Filter)
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#
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MODULE_NAME = attitude_estimator_ekf
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MODULE_NAME = attitude_estimator_ekf
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SRCS = attitude_estimator_ekf_main.c \
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CXXSRCS = attitude_estimator_ekf_main.cpp
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attitude_estimator_ekf_params.c \
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SRCS = 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_initialize.c \
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codegen/attitudeKalmanfilter_terminate.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/rt_nonfinite.c \
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codegen/rtGetInf.c \
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codegen/rtGetInf.c \
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codegen/rtGetNaN.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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