ekf2: move IMU down sampler to imu_down_sampler/

src/modules/ekf2/CMakeLists.txt

@@ -122,11 +122,12 @@ list(APPEND EKF_SRCS
 	EKF/ekf_helper.cpp
 	EKF/estimator_interface.cpp
 	EKF/height_control.cpp
-	EKF/imu_down_sampler.cpp
 	EKF/velocity_fusion.cpp
 	EKF/position_fusion.cpp
 	EKF/yaw_fusion.cpp
 
+	EKF/imu_down_sampler/imu_down_sampler.cpp
+
 	EKF/aid_sources/fake_height_control.cpp
 	EKF/aid_sources/fake_pos_control.cpp
 	EKF/aid_sources/ZeroGyroUpdate.cpp

src/modules/ekf2/EKF/CMakeLists.txt

@@ -43,11 +43,12 @@ list(APPEND EKF_SRCS
 	ekf_helper.cpp
 	estimator_interface.cpp
 	height_control.cpp
-	imu_down_sampler.cpp
 	velocity_fusion.cpp
 	position_fusion.cpp
 	yaw_fusion.cpp
 
+	imu_down_sampler/imu_down_sampler.cpp
+
 	aid_sources/fake_height_control.cpp
 	aid_sources/fake_pos_control.cpp
 	aid_sources/ZeroGyroUpdate.cpp

src/modules/ekf2/EKF/estimator_interface.h

@@ -63,7 +63,7 @@
 
 #include "common.h"
 #include "RingBuffer.h"
-#include "imu_down_sampler.hpp"
+#include "imu_down_sampler/imu_down_sampler.hpp"
 #include "output_predictor/output_predictor.h"
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)

src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.cpp

@@ -1,4 +1,4 @@
-#include "imu_down_sampler.hpp"
+#include "imu_down_sampler/imu_down_sampler.hpp"
 
 #include <lib/mathlib/mathlib.h>
 

src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.hpp

@@ -41,7 +41,7 @@
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 
-#include "common.h"
+#include "../common.h"
 
 using namespace estimator;
 

src/modules/ekf2/test/test_EKF_imuSampling.cpp

@@ -34,7 +34,7 @@
 #include <gtest/gtest.h>
 #include <math.h>
 #include "EKF/ekf.h"
-#include "EKF/imu_down_sampler.hpp"
+#include "EKF/imu_down_sampler/imu_down_sampler.hpp"
 
 class EkfImuSamplingTest : public ::testing::TestWithParam<std::tuple<float, float, Vector3f, Vector3f>>
 {