mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-10 23:11:36 +08:00
Daniel Agar
56de0e27d8
- .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
122 lines
4.0 KiB
CMake
122 lines
4.0 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015-2020 PX4 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 PX4 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_subdirectory(Utility)
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px4_add_module(
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MODULE modules__ekf2
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MAIN ekf2
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COMPILE_FLAGS
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${MAX_CUSTOM_OPT_LEVEL}
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-fno-associative-math
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#-DDEBUG_BUILD
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INCLUDES
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EKF
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STACK_MAX
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3600
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SRCS
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EKF/airspeed_fusion.cpp
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EKF/baro_bias_estimator.cpp
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EKF/control.cpp
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EKF/covariance.cpp
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EKF/drag_fusion.cpp
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EKF/ekf.cpp
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EKF/ekf_helper.cpp
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EKF/EKFGSF_yaw.cpp
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EKF/estimator_interface.cpp
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EKF/gps_checks.cpp
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EKF/gps_control.cpp
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EKF/gps_fusion.cpp
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EKF/gps_yaw_fusion.cpp
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EKF/height_fusion.cpp
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EKF/imu_down_sampler.cpp
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EKF/mag_control.cpp
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EKF/mag_fusion.cpp
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EKF/optflow_fusion.cpp
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EKF/sensor_range_finder.cpp
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EKF/sideslip_fusion.cpp
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EKF/terrain_estimator.cpp
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EKF/utils.cpp
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EKF/vel_pos_fusion.cpp
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EKF2.cpp
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EKF2.hpp
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EKF2Selector.cpp
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EKF2Selector.hpp
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DEPENDS
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geo
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hysteresis
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perf
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EKF2Utility
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px4_work_queue
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world_magnetic_model
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UNITY_BUILD
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PUBLICATIONS
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"px4::msg::Ekf2Timestamps /ekf2_timestamps"
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"px4::msg::EkfGpsDrift /ekf_gps_drift"
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"px4::msg::EstimatorBaroBias /estimator_baro_bias"
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"px4::msg::EstimatorInnovations /estimator_innovations"
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"px4::msg::EstimatorInnovations /estimator_innovation_test_ratios"
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"px4::msg::EstimatorInnovations /estimator_innovation_variances"
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"px4::msg::EstimatorOpticalFlowVel /estimator_optical_flow_vel"
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"px4::msg::EstimatorSensorBias /estimator_sensor_bias"
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"px4::msg::EstimatorStates /estimator_states"
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"px4::msg::EstimatorStatus /estimator_status"
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"px4::msg::EstimatorStatusFlags /estimator_status_flags"
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"px4::msg::EstimatorEventFlags /estimator_event_flags"
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"px4::msg::VehicleOdometry /estimator_visual_odometry_aligned"
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"px4::msg::YawEstimatorStatus /yaw_estimator_status"
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"px4::msg::VehicleAttitude /vehicle_attitude"
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"px4::msg::VehicleLocalPosition /vehicle_local_position"
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"px4::msg::VehicleGlobalPosition /vehicle_global_position"
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"px4::msg::VehicleOdometry /vehicle_odometry"
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"px4::msg::Wind /wind"
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# multi-EKF
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"px4::msg::EstimatorSelectorStatus /estimator_selector_status"
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"px4::msg::VehicleAttitude /estimator_attitude"
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"px4::msg::VehicleLocalPosition /estimator_local_position"
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"px4::msg::VehicleGlobalPosition /estimator_global_position"
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"px4::msg::VehicleOdometry /estimator_odometry"
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"px4::msg::Wind /estimator_wind"
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SUBSCRIPTIONS
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"px4::msg::OpticalFlow /optical_flow"
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)
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if(BUILD_TESTING)
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add_subdirectory(EKF)
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add_subdirectory(test)
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endif()
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