ekf2: move GNSS files to aid_sources/gnss

2026-05-16 08:37:38 +08:00 · 2024-04-04 14:00:47 -04:00
parent 31ae5b77fe
commit fcf94e7670
6 changed files with 14 additions and 16 deletions
@@ -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
@@ -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()