ekf2: move EKF out of ecl

src/modules/ekf2/CMakeLists.txt

@@ -38,15 +38,47 @@ px4_add_module(
 	MAIN ekf2
 	COMPILE_FLAGS
 		${MAX_CUSTOM_OPT_LEVEL}
+		-fno-associative-math
+	INCLUDES
+		EKF
+	STACK_MAX
+		3500
 	SRCS
+		EKF/airspeed_fusion.cpp
+		EKF/control.cpp
+		EKF/covariance.cpp
+		EKF/drag_fusion.cpp
+		EKF/ekf.cpp
+		EKF/ekf_helper.cpp
+		EKF/EKFGSF_yaw.cpp
+		EKF/estimator_interface.cpp
+		EKF/gps_checks.cpp
+		EKF/gps_yaw_fusion.cpp
+		EKF/imu_down_sampler.cpp
+		EKF/mag_control.cpp
+		EKF/mag_fusion.cpp
+		EKF/optflow_fusion.cpp
+		EKF/sensor_range_finder.cpp
+		EKF/sideslip_fusion.cpp
+		EKF/terrain_estimator.cpp
+		EKF/utils.cpp
+		EKF/vel_pos_fusion.cpp
+
 		EKF2.cpp
 		EKF2.hpp
 		EKF2Selector.cpp
 		EKF2Selector.hpp
+
 	DEPENDS
-		ecl_EKF
 		geo
 		perf
 		EKF2Utility
 		px4_work_queue
+		world_magnetic_model
+	UNITY_BUILD
 	)
+
+if(BUILD_TESTING)
+	add_subdirectory(EKF)
+	add_subdirectory(test)
+endif()