From afbb4d55b3fc4e0e2a1fc1a1b052e9f4fb034d51 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 26 Apr 2013 15:13:47 +0200
Subject: [PATCH] Finished conversion to C++

---
 apps/attitude_estimator_ekf/Makefile            |  5 +++--
 ...f_main.c => attitude_estimator_ekf_main.cpp} | 17 ++++++++++++-----
 2 files changed, 15 insertions(+), 7 deletions(-)
 rename apps/attitude_estimator_ekf/{attitude_estimator_ekf_main.c => attitude_estimator_ekf_main.cpp} (98%)

diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile
index 734af7cc1c..46a54c6607 100755
--- a/apps/attitude_estimator_ekf/Makefile
+++ b/apps/attitude_estimator_ekf/Makefile
@@ -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 \
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
similarity index 98%
rename from apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
rename to apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index bd972f03f3..1a50dde0f4 100755
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -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) {