From 4f0eb72fc968e517e5a9ca765c7bdef8d8a1259a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 1 May 2024 22:00:55 -0400
Subject: [PATCH] ekf2: move IMU down sampler to imu_down_sampler/

---
 src/modules/ekf2/CMakeLists.txt                                | 3 ++-
 src/modules/ekf2/EKF/CMakeLists.txt                            | 3 ++-
 src/modules/ekf2/EKF/estimator_interface.h                     | 2 +-
 .../ekf2/EKF/{ => imu_down_sampler}/imu_down_sampler.cpp       | 2 +-
 .../ekf2/EKF/{ => imu_down_sampler}/imu_down_sampler.hpp       | 2 +-
 src/modules/ekf2/test/test_EKF_imuSampling.cpp                 | 2 +-
 6 files changed, 8 insertions(+), 6 deletions(-)
 rename src/modules/ekf2/EKF/{ => imu_down_sampler}/imu_down_sampler.cpp (98%)
 rename src/modules/ekf2/EKF/{ => imu_down_sampler}/imu_down_sampler.hpp (99%)

diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 0ea258ea2b..7e9fcb7abf 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/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
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index 269a525acc..03c9a48166 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/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
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index 81f2dc48f3..b19936ff1a 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/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)
diff --git a/src/modules/ekf2/EKF/imu_down_sampler.cpp b/src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.cpp
similarity index 98%
rename from src/modules/ekf2/EKF/imu_down_sampler.cpp
rename to src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.cpp
index 02f43a12f5..0054f917f3 100644
--- a/src/modules/ekf2/EKF/imu_down_sampler.cpp
+++ b/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>
 
diff --git a/src/modules/ekf2/EKF/imu_down_sampler.hpp b/src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.hpp
similarity index 99%
rename from src/modules/ekf2/EKF/imu_down_sampler.hpp
rename to src/modules/ekf2/EKF/imu_down_sampler/imu_down_sampler.hpp
index 29732bd584..8f0c4211be 100644
--- a/src/modules/ekf2/EKF/imu_down_sampler.hpp
+++ b/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;
 
diff --git a/src/modules/ekf2/test/test_EKF_imuSampling.cpp b/src/modules/ekf2/test/test_EKF_imuSampling.cpp
index bd300c5385..5ba380d2c0 100644
--- a/src/modules/ekf2/test/test_EKF_imuSampling.cpp
+++ b/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>>
 {