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ekf2: add symforce code generation helper target

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This commit is contained in:
Daniel Agar 2022-09-30 15:34:08 -04:00
parent c9441bb48a
commit 41cda14126
2 changed files with 31 additions and 0 deletions
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30
src/modules/ekf2/CMakeLists.txt
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@ -33,6 +33,36 @@
add_subdirectory(Utility)
# Symforce code generation
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic
RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE
OUTPUT_QUIET
)
if(${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0)
set(EKF_DERIVATION_DIR ${CMAKE_CURRENT_SOURCE_DIR}/EKF/python/ekf_derivation)
set(EKF_GENERATED_SRC_FILES
${EKF_DERIVATION_DIR}/generated/compute_airspeed_h_and_k.h
${EKF_DERIVATION_DIR}/generated/compute_airspeed_innov_and_innov_var.h
)
add_custom_command(
OUTPUT ${EKF_GENERATED_SRC_FILES}
COMMAND ${PYTHON_EXECUTABLE} derivation.py
DEPENDS
${EKF_DERIVATION_DIR}/derivation.py
${EKF_DERIVATION_DIR}/derivation_utils.py
WORKING_DIRECTORY ${EKF_DERIVATION_DIR}
COMMENT "Symforce code generation"
USES_TERMINAL
)
add_custom_target(ekf2_symforce_generate DEPENDS ${EKF_GENERATED_SRC_FILES})
endif()
px4_add_module(
MODULE modules__ekf2
MAIN ekf2

1
src/modules/ekf2/EKF/python/ekf_derivation/generated/.gitignore vendored Normal file
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@ -0,0 +1 @@
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