cmake standalone build

.gitignore

@@ -1,5 +1,5 @@
 *.DS_Store
 *~
 .cache/
-Build/
+build/
 EKF/tests/pytest/__pycache__/

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "matrix"]
-	path = matrix
-	url = https://github.com/PX4/Matrix

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
+cmake_minimum_required(VERSION 3.0)
-	airdata/WindEstimator.cpp
+
-	attitude_fw/ecl_controller.cpp
+project(ECL CXX)
-	attitude_fw/ecl_pitch_controller.cpp
+
-	attitude_fw/ecl_roll_controller.cpp
+execute_process(
-	attitude_fw/ecl_wheel_controller.cpp
+	COMMAND git describe --always --tags
-	attitude_fw/ecl_yaw_controller.cpp
+	OUTPUT_VARIABLE git_tag
-	EKF/airspeed_fusion.cpp
+	OUTPUT_STRIP_TRAILING_WHITESPACE
-	EKF/control.cpp
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-	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
 	)
+
+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)

EKF/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
@@ -31,27 +31,7 @@
 #
 ############################################################################
 
-cmake_minimum_required(VERSION 2.8)
+add_library(ecl_EKF
-
-project(ECL CXX)
-
-set(CMAKE_INCLUDE_CURRENT_DIR ON)
-set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
-
-set(MATRIX_DIR ${CMAKE_SOURCE_DIR}/../matrix)
-if(NOT EXISTS "${MATRIX_DIR}/.git")
-	message(SEND_ERROR "The git submodules are not available. Please run git submodule update --init --recursive")
-endif()
-
-include_directories(
-	..
-	${MATRIX_DIR}
-	)
-
-set(SRCS
-	../geo/geo.cpp
-	../geo_lookup/geo_mag_declination.cpp
-	../mathlib/mathlib.cpp
 	airspeed_fusion.cpp
 	control.cpp
 	covariance.cpp
@@ -65,28 +45,12 @@ set(SRCS
 	sideslip_fusion.cpp
 	terrain_estimator.cpp
 	vel_pos_fusion.cpp
-	)
+)
 
-add_definitions(-DPOSIX_SHARED)
+add_dependencies(ecl_EKF prebuild_targets)
-add_compile_options(
-	-pedantic
-	-std=c++11
 
-	-Wall
+target_include_directories(ecl_EKF PUBLIC ${ECL_SOURCE_DIR})
-	-Werror
+target_link_libraries(ecl_EKF PRIVATE ecl_geo_lookup)
-
-	-Wno-deprecated-declarations
-	-Wno-enum-compare
-	-Wno-unused-local-typedefs
-	-Wno-unused-parameter
-	)
-
-# clang tolerate unknown gcc options
-if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-	add_compile_options(-Wno-unknown-warning-option)
-endif()
-
-add_library(ecl SHARED ${SRCS})
 
 # Python bindings & tests
 # Use cmake -DPythonTests=1 ../EKF && make pytest
@@ -120,27 +84,27 @@ if(PythonTests)
   swig_link_libraries(ecl ${PYTHON_LIBRARIES} ecl)
 
   add_custom_target(pytest
-    env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_SOURCE_DIR}/tests/pytest/ekf_test --verbose
+    env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ekf_test --verbose
     )
   add_dependencies(pytest ${SWIG_MODULE_ecl_REAL_NAME})
 
   add_custom_target(pytest-quick
-    env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_SOURCE_DIR}/tests/pytest/ekf_test --quick --verbose
+    env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ekf_test --quick --verbose
     )
   add_dependencies(pytest-quick ${SWIG_MODULE_ecl_REAL_NAME})
 
   add_custom_target(pytest-benchmark
-    env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_SOURCE_DIR}/tests/pytest/ekf_test --benchmark
+    env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ekf_test --benchmark
     )
   add_dependencies(pytest-benchmark ${SWIG_MODULE_ecl_REAL_NAME})
 
   add_custom_target(pytest-plots
-    env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_SOURCE_DIR}/tests/pytest/ekf_test --plots
+    env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ekf_test --plots
     )
   add_dependencies(pytest-plots ${SWIG_MODULE_ecl_REAL_NAME})
 
   add_custom_target(pytest-lint
-    COMMAND cd  ${CMAKE_SOURCE_DIR}/tests/pytest/ && ${CMAKE_SOURCE_DIR}/tests/pytest/lint
+    COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ && ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/lint
     )
   add_dependencies(pytest-lint ${SWIG_MODULE_ecl_REAL_NAME})
 endif()

EKF/FindEigen3.cmake

@@ -1,90 +0,0 @@
-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-#   find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-#  EIGEN3_FOUND - system has eigen lib with correct version
-#  EIGEN3_INCLUDE_DIR - the eigen include directory
-#  EIGEN3_VERSION - eigen version
-#
-# This module reads hints about search locations from 
-# the following enviroment variables:
-#
-# EIGEN3_ROOT
-# EIGEN3_ROOT_DIR
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen3_FIND_VERSION)
-  if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 2)
-  endif(NOT Eigen3_FIND_VERSION_MAJOR)
-  if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 91)
-  endif(NOT Eigen3_FIND_VERSION_MINOR)
-  if(NOT Eigen3_FIND_VERSION_PATCH)
-    set(Eigen3_FIND_VERSION_PATCH 0)
-  endif(NOT Eigen3_FIND_VERSION_PATCH)
-
-  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
-endif(NOT Eigen3_FIND_VERSION)
-
-macro(_eigen3_check_version)
-  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
-
-  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
-  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK FALSE)
-  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK TRUE)
-  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-
-  if(NOT EIGEN3_VERSION_OK)
-
-    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
-                   "but at least version ${Eigen3_FIND_VERSION} is required")
-  endif(NOT EIGEN3_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (EIGEN3_INCLUDE_DIR)
-
-  # in cache already
-  _eigen3_check_version()
-  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
-
-else (EIGEN3_INCLUDE_DIR)
-
-  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      HINTS
-      ENV EIGEN3_ROOT 
-      ENV EIGEN3_ROOT_DIR
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
-    )
-
-  if(EIGEN3_INCLUDE_DIR)
-    _eigen3_check_version()
-  endif(EIGEN3_INCLUDE_DIR)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
-
-  mark_as_advanced(EIGEN3_INCLUDE_DIR)
-
-endif(EIGEN3_INCLUDE_DIR)
-

EKF/common.h

@@ -40,7 +40,7 @@
  *
  */
 
-#include <matrix/matrix/math.hpp>
+#include <matrix/math.hpp>
 
 namespace estimator
 {

EKF/estimator_interface.h

@@ -43,7 +43,7 @@
 #include "RingBuffer.h"
 
 #include <geo/geo.h>
-#include <matrix/matrix/math.hpp>
+#include <matrix/math.hpp>
 #include <mathlib/mathlib.h>
 
 using namespace estimator;

EKF/matlab/EKF_replay/Common/LLH2NED.m

@@ -1,12 +1,12 @@
-function posNED = LLH2NED(LLH,refLLH)
+function posNED = LLH2NED(LLH,refLLH)
-
+
-radius = 6378137;
+radius = 6378137;
-flattening = 1/298.257223563;
+flattening = 1/298.257223563;
-e = sqrt(flattening*(2-flattening));
+e = sqrt(flattening*(2-flattening));
-Rm = radius*(1-e^2)/(1-e^2*sin(refLLH(1)*pi/180)^2)^(3/2);
+Rm = radius*(1-e^2)/(1-e^2*sin(refLLH(1)*pi/180)^2)^(3/2);
-Rn = radius/(1-e^2*sin(refLLH(1)*pi/180)^2)^(1/2);
+Rn = radius/(1-e^2*sin(refLLH(1)*pi/180)^2)^(1/2);
-posN = (LLH(1,:)-refLLH(1))*pi/180.*(Rm+LLH(3,:));
+posN = (LLH(1,:)-refLLH(1))*pi/180.*(Rm+LLH(3,:));
-posE = (LLH(2,:)-refLLH(2))*pi/180.*(Rn+LLH(3,:))*cos(refLLH(1)*pi/180);
+posE = (LLH(2,:)-refLLH(2))*pi/180.*(Rn+LLH(3,:))*cos(refLLH(1)*pi/180);
-posD = -(LLH(3,:)-refLLH(3));
+posD = -(LLH(3,:)-refLLH(3));
-posNED = [posN;posE;posD];
+posNED = [posN;posE;posD];
 end