cmake standalone build

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 ECL Development Team. All rights reserved.
+#   Copyright (c) 2015-2018 ECL Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,31 +30,63 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-include_directories(.)
-px4_add_library(ecl
-	airdata/WindEstimator.cpp
-	attitude_fw/ecl_controller.cpp
-	attitude_fw/ecl_pitch_controller.cpp
-	attitude_fw/ecl_roll_controller.cpp
-	attitude_fw/ecl_wheel_controller.cpp
-	attitude_fw/ecl_yaw_controller.cpp
-	EKF/airspeed_fusion.cpp
-	EKF/control.cpp
-	EKF/covariance.cpp
-	EKF/drag_fusion.cpp
-	EKF/ekf.cpp
-	EKF/ekf_helper.cpp
-	EKF/estimator_interface.cpp
-	EKF/gps_checks.cpp
-	EKF/mag_fusion.cpp
-	EKF/optflow_fusion.cpp
-	EKF/sideslip_fusion.cpp
-	EKF/terrain_estimator.cpp
-	EKF/vel_pos_fusion.cpp
-	geo/geo.cpp
-	geo_lookup/geo_mag_declination.cpp
-	l1/ecl_l1_pos_controller.cpp
-	tecs/tecs.cpp
-	validation/data_validator.cpp
-	validation/data_validator_group.cpp
+
+cmake_minimum_required(VERSION 3.0)
+
+project(ECL CXX)
+
+execute_process(
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	)
+
+message(STATUS "PX4 ECL: Very lightweight Estimation & Control Library ${git_tag}")
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+set(ECL_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+
+if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
+	# ECL standalone build
+	add_definitions(-DECL_STANDALONE)
+
+	add_custom_target(prebuild_targets)
+
+	add_compile_options(
+		-pedantic
+	
+		-Wall
+		-Wextra
+		-Werror
+
+		-Wno-unused-parameter
+	)
+
+	# fetch latest matrix from github
+	include(ExternalProject)
+	ExternalProject_Add(matrix
+			GIT_REPOSITORY "https://github.com/PX4/Matrix.git"
+			UPDATE_COMMAND ""
+			PATCH_COMMAND ""
+			CONFIGURE_COMMAND ""
+			BUILD_COMMAND ""
+			INSTALL_COMMAND ""
+			)
+	add_dependencies(prebuild_targets matrix)
+	include_directories(${CMAKE_BINARY_DIR}/matrix-prefix/src/matrix)
+
+	add_subdirectory(mathlib)
+endif()
+
+add_subdirectory(airdata)
+add_subdirectory(attitude_fw)
+add_subdirectory(EKF)
+add_subdirectory(geo)
+add_subdirectory(geo_lookup)
+add_subdirectory(l1)
+add_subdirectory(tecs)
+add_subdirectory(validation)