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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Paul Riseborough
91f886cb5e
Heading data is assumed to be from a dual antenna array at a specified yaw angle offset in body frame, but with the heading data already corrected for antenna offset. The offset is required to apply the correct compensation for combined rotations and to determine when the yaw observation has become badly conditioned.
65 lines
2.3 KiB
CMake
65 lines
2.3 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015-2018 ECL Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name ECL nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_library(ecl_EKF
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airspeed_fusion.cpp
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control.cpp
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covariance.cpp
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drag_fusion.cpp
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ekf.cpp
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ekf_helper.cpp
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estimator_interface.cpp
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gps_checks.cpp
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mag_fusion.cpp
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optflow_fusion.cpp
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sideslip_fusion.cpp
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terrain_estimator.cpp
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vel_pos_fusion.cpp
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gps_yaw_fusion.cpp
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)
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add_dependencies(ecl_EKF prebuild_targets)
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target_compile_definitions(ecl_EKF PRIVATE -DMODULE_NAME="ecl/EKF")
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target_include_directories(ecl_EKF PUBLIC ${ECL_SOURCE_DIR})
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target_link_libraries(ecl_EKF PRIVATE ecl_geo ecl_geo_lookup mathlib)
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set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h")
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if(EKF_PYTHON_TESTS)
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add_subdirectory(swig)
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endif()
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if(BUILD_TESTING)
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add_subdirectory(tests)
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endif()
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