cmake standalone build

airdata/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name ECL nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(ecl_airdata
+	WindEstimator.cpp
+	)
+add_dependencies(ecl_airdata prebuild_targets)
+
+target_include_directories(ecl_airdata PUBLIC ${ECL_SOURCE_DIR})

airdata/WindEstimator.cpp

@@ -38,7 +38,6 @@
 
 #include "WindEstimator.hpp"
 
-
 bool
 WindEstimator::initialise(const matrix::Vector3f &velI, const matrix::Vector2f &velIvar, const float tas_meas)
 {
@@ -321,7 +320,7 @@ WindEstimator::run_sanity_checks()
 		}
 	}
 
-	if (!PX4_ISFINITE(_state(w_n)) || !PX4_ISFINITE(_state(w_e)) || !PX4_ISFINITE(_state(tas))) {
+	if (!ISFINITE(_state(w_n)) || !ISFINITE(_state(w_e)) || !ISFINITE(_state(tas))) {
 		_initialised = false;
 		return;
 	}
@@ -353,4 +352,4 @@ WindEstimator::check_if_meas_is_rejected(uint64_t time_now, float innov, float i
 	reinit_filter = time_now - time_meas_rejected > 5 * 1000 * 1000 && time_meas_rejected != 0;
 
 	return time_meas_rejected != 0;
-}
+}

airdata/WindEstimator.hpp

@@ -38,6 +38,7 @@
 
 #pragma once
 
+#include <ecl.h>
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>