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Finished conversion to C++

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This commit is contained in:
Lorenz Meier 2013-04-26 15:13:47 +02:00
parent ed9fbbce59
commit afbb4d55b3
2 changed files with 15 additions and 7 deletions
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5
apps/attitude_estimator_ekf/Makefile
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@ -35,8 +35,9 @@ APPNAME = attitude_estimator_ekf
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
CSRCS = attitude_estimator_ekf_main.c \
attitude_estimator_ekf_params.c \
CXXSRCS = attitude_estimator_ekf_main.cpp
CSRCS = attitude_estimator_ekf_params.c \
codegen/eye.c \
codegen/attitudeKalmanfilter.c \
codegen/mrdivide.c \

17
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c → apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
View File

@ -66,11 +66,17 @@
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#ifdef __cplusplus
extern "C" {
#endif
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
#include "attitude_estimator_ekf_params.h"
#ifdef __cplusplus
}
#endif
__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@ -265,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* Main loop*/
while (!thread_should_exit) {
struct pollfd fds[2] = {
{ .fd = sub_raw, .events = POLLIN },
{ .fd = sub_params, .events = POLLIN }
};
struct pollfd fds[2];
fds[0].fd = sub_raw;
fds[0].events = POLLIN;
fds[1].fd = sub_params;
fds[1].events = POLLIN;
int ret = poll(fds, 2, 1000);
if (ret < 0) {