mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
b19a6ee3b5
The position error state is still defined in a body-fixed NED frame but the position state itself is latitude-longitude-altitude.
164 lines
4.6 KiB
CMake
164 lines
4.6 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015-2023 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(bias_estimator)
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add_subdirectory(output_predictor)
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add_subdirectory(lat_lon_alt)
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set(EKF_LIBS)
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set(EKF_SRCS)
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list(APPEND EKF_SRCS
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control.cpp
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covariance.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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height_control.cpp
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velocity_fusion.cpp
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position_fusion.cpp
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yaw_fusion.cpp
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imu_down_sampler/imu_down_sampler.cpp
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aid_sources/fake_height_control.cpp
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aid_sources/fake_pos_control.cpp
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aid_sources/ZeroGyroUpdate.cpp
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aid_sources/ZeroVelocityUpdate.cpp
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aid_sources/zero_innovation_heading_update.cpp
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)
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if(CONFIG_EKF2_AIRSPEED)
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list(APPEND EKF_SRCS aid_sources/airspeed/airspeed_fusion.cpp)
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endif()
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if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
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list(APPEND EKF_SRCS aid_sources/aux_global_position/aux_global_position.cpp)
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endif()
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if(CONFIG_EKF2_AUXVEL)
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list(APPEND EKF_SRCS aid_sources/auxvel/auxvel_fusion.cpp)
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endif()
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if(CONFIG_EKF2_BAROMETER)
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list(APPEND EKF_SRCS
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aid_sources/barometer/baro_height_control.cpp
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)
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endif()
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if(CONFIG_EKF2_DRAG_FUSION)
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list(APPEND EKF_SRCS aid_sources/drag/drag_fusion.cpp)
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endif()
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if(CONFIG_EKF2_EXTERNAL_VISION)
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list(APPEND EKF_SRCS
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aid_sources/external_vision/ev_control.cpp
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aid_sources/external_vision/ev_height_control.cpp
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aid_sources/external_vision/ev_pos_control.cpp
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aid_sources/external_vision/ev_vel_control.cpp
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aid_sources/external_vision/ev_yaw_control.cpp
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)
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endif()
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if(CONFIG_EKF2_GNSS)
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list(APPEND EKF_SRCS
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aid_sources/gnss/gnss_height_control.cpp
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aid_sources/gnss/gps_checks.cpp
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aid_sources/gnss/gps_control.cpp
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)
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if(CONFIG_EKF2_GNSS_YAW)
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list(APPEND EKF_SRCS aid_sources/gnss/gnss_yaw_control.cpp)
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endif()
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add_subdirectory(yaw_estimator)
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list(APPEND EKF_LIBS yaw_estimator)
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endif()
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if(CONFIG_EKF2_GRAVITY_FUSION)
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list(APPEND EKF_SRCS aid_sources/gravity/gravity_fusion.cpp)
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endif()
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if(CONFIG_EKF2_MAGNETOMETER)
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list(APPEND EKF_SRCS
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aid_sources/magnetometer/mag_control.cpp
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aid_sources/magnetometer/mag_fusion.cpp
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)
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endif()
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if(CONFIG_EKF2_OPTICAL_FLOW)
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list(APPEND EKF_SRCS
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aid_sources/optical_flow/optical_flow_control.cpp
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aid_sources/optical_flow/optical_flow_fusion.cpp
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)
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endif()
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if(CONFIG_EKF2_RANGE_FINDER)
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list(APPEND EKF_SRCS
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aid_sources/range_finder/range_finder_consistency_check.cpp
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aid_sources/range_finder/range_height_control.cpp
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aid_sources/range_finder/range_height_fusion.cpp
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aid_sources/range_finder/sensor_range_finder.cpp
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)
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endif()
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if(CONFIG_EKF2_SIDESLIP)
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list(APPEND EKF_SRCS aid_sources/sideslip/sideslip_fusion.cpp)
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endif()
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if(CONFIG_EKF2_TERRAIN)
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list(APPEND EKF_SRCS terrain_control.cpp)
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endif()
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if(CONFIG_EKF2_WIND)
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list(APPEND EKF_SRCS wind.cpp)
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endif ()
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include_directories(${CMAKE_CURRENT_SOURCE_DIR})
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add_library(ecl_EKF
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${EKF_SRCS}
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)
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add_dependencies(ecl_EKF prebuild_targets)
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target_include_directories(ecl_EKF PUBLIC ${EKF_GENERATED_DERIVATION_INCLUDE_PATH})
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target_link_libraries(ecl_EKF
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PRIVATE
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bias_estimator
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geo
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output_predictor
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world_magnetic_model
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${EKF_LIBS}
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)
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target_compile_options(ecl_EKF PRIVATE -fno-associative-math)
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