From fcf94e76708b032f09e6b34f54cd46a23817c5b2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 4 Apr 2024 14:00:47 -0400
Subject: [PATCH] ekf2: move GNSS files to aid_sources/gnss

---
 src/modules/ekf2/CMakeLists.txt                  | 16 +++++++---------
 src/modules/ekf2/EKF/CMakeLists.txt              | 14 +++++++-------
 .../gnss}/gnss_height_control.cpp                |  0
 .../EKF/{ => aid_sources/gnss}/gps_checks.cpp    |  0
 .../EKF/{ => aid_sources/gnss}/gps_control.cpp   |  0
 .../{ => aid_sources/gnss}/gps_yaw_fusion.cpp    |  0
 6 files changed, 14 insertions(+), 16 deletions(-)
 rename src/modules/ekf2/EKF/{ => aid_sources/gnss}/gnss_height_control.cpp (100%)
 rename src/modules/ekf2/EKF/{ => aid_sources/gnss}/gps_checks.cpp (100%)
 rename src/modules/ekf2/EKF/{ => aid_sources/gnss}/gps_control.cpp (100%)
 rename src/modules/ekf2/EKF/{ => aid_sources/gnss}/gps_yaw_fusion.cpp (100%)

diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 72d5a71d88..c202aa07e0 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -170,16 +170,16 @@ endif()
 
 if(CONFIG_EKF2_GNSS)
 	list(APPEND EKF_SRCS
-		EKF/gnss_height_control.cpp
-		EKF/gps_checks.cpp
-		EKF/gps_control.cpp
+		EKF/aid_sources/gnss/gnss_height_control.cpp
+		EKF/aid_sources/gnss/gps_checks.cpp
+		EKF/aid_sources/gnss/gps_control.cpp
 	)
 
-	list(APPEND EKF_LIBS yaw_estimator)
-endif()
+	if(CONFIG_EKF2_GNSS_YAW)
+		list(APPEND EKF_SRCS EKF/aid_sources/gnss/gps_yaw_fusion.cpp)
+	endif()
 
-if(CONFIG_EKF2_GNSS_YAW)
-	list(APPEND EKF_SRCS EKF/gps_yaw_fusion.cpp)
+	list(APPEND EKF_LIBS yaw_estimator)
 endif()
 
 if(CONFIG_EKF2_GRAVITY_FUSION)
@@ -219,8 +219,6 @@ endif()
 
 add_subdirectory(EKF)
 
-
-
 px4_add_module(
 	MODULE modules__ekf2
 	MAIN ekf2
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index 5f33106b9a..e5d2e9f4d8 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -88,19 +88,19 @@ endif()
 
 if(CONFIG_EKF2_GNSS)
 	list(APPEND EKF_SRCS
-		gnss_height_control.cpp
-		gps_checks.cpp
-		gps_control.cpp
+		aid_sources/gnss/gnss_height_control.cpp
+		aid_sources/gnss/gps_checks.cpp
+		aid_sources/gnss/gps_control.cpp
 	)
 
+	if(CONFIG_EKF2_GNSS_YAW)
+		list(APPEND EKF_SRCS aid_sources/gnss/gps_yaw_fusion.cpp)
+	endif()
+
 	add_subdirectory(yaw_estimator)
 	list(APPEND EKF_LIBS yaw_estimator)
 endif()
 
-if(CONFIG_EKF2_GNSS_YAW)
-	list(APPEND EKF_SRCS gps_yaw_fusion.cpp)
-endif()
-
 if(CONFIG_EKF2_GRAVITY_FUSION)
 	list(APPEND EKF_SRCS gravity_fusion.cpp)
 endif()
diff --git a/src/modules/ekf2/EKF/gnss_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/gnss_height_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp
diff --git a/src/modules/ekf2/EKF/gps_checks.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/gps_checks.cpp
rename to src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/gps_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp
diff --git a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gps_yaw_fusion.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/gps_yaw_fusion.cpp
rename to src/modules/ekf2/EKF/aid_sources/gnss/gps_yaw_fusion.cpp