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add_subdirectory(Utility)

px4_add_module(
	MODULE modules__ekf2
	MAIN ekf2
	COMPILE_FLAGS
		${MAX_CUSTOM_OPT_LEVEL}
		-fno-associative-math
		#-DDEBUG_BUILD
	INCLUDES
		EKF
	PRIORITY
		"SCHED_PRIORITY_MAX - 18" # max priority below high priority WQ threads
	STACK_MAX
		3600
	SRCS
		EKF/airspeed_fusion.cpp
		EKF/bias_estimator.cpp
		EKF/control.cpp
		EKF/covariance.cpp
		EKF/drag_fusion.cpp
		EKF/ekf.cpp
		EKF/ekf_helper.cpp
		EKF/EKFGSF_yaw.cpp
		EKF/estimator_interface.cpp
		EKF/fake_pos_control.cpp
		EKF/gps_checks.cpp
		EKF/gps_control.cpp
		EKF/gps_fusion.cpp
		EKF/gps_yaw_fusion.cpp
		EKF/height_control.cpp
		EKF/height_fusion.cpp
		EKF/imu_down_sampler.cpp
		EKF/mag_control.cpp
		EKF/mag_fusion.cpp
		EKF/optflow_fusion.cpp
		EKF/range_finder_consistency_check.cpp
		EKF/sensor_range_finder.cpp
		EKF/sideslip_fusion.cpp
		EKF/terrain_estimator.cpp
		EKF/vel_pos_fusion.cpp
		EKF/zero_innovation_heading_update.cpp
		EKF/zero_velocity_update.cpp

		EKF2.cpp
		EKF2.hpp
		EKF2Selector.cpp
		EKF2Selector.hpp

	DEPENDS
		geo
		hysteresis
		perf
		EKF2Utility
		px4_work_queue
		world_magnetic_model
	UNITY_BUILD
	)

if(BUILD_TESTING)
	add_subdirectory(EKF)
	add_subdirectory(test)
endif()