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78b899c72d
This adds support for the paparazzi autopilot to use this library as EKF. The header order change has to be done in order to have std.h included to get certain defines at the start of the estimator_interface.h.
85 lines
2.7 KiB
C++
85 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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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/**
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* @file ecl.h
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* Adapter / shim layer for system calls needed by ECL
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*
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*/
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#pragma once
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#if defined(__PX4_POSIX) || defined(__PX4_NUTTX)
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#include <drivers/drv_hrt.h>
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#include <px4_log.h>
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#define ecl_absolute_time hrt_absolute_time
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#define ecl_elapsed_time hrt_elapsed_time
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using ecl_abstime = hrt_abstime;
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#define ECL_INFO PX4_INFO
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#define ECL_WARN PX4_WARN
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#define ECL_ERR PX4_ERR
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#elif defined(__PAPARAZZI)
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#include "std.h"
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#define ecl_absolute_time() (0)
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#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions
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using ecl_abstime = uint64_t;
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#define ECL_INFO(...)
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#define ECL_WARN(...)
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#define ECL_ERR(...)
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#else
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#include <cstdio>
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#include <cstdint>
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#define ecl_absolute_time() (0)
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#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions
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using ecl_abstime = uint64_t;
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#define ECL_INFO printf
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#define ECL_WARN printf
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#define ECL_ERR printf
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#endif /* PX4_POSIX || PX4_NUTTX */
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#include <cmath>
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#define ISFINITE(x) __builtin_isfinite(x)
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