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main.cpp
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main.cpp
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//
// Ensure that AP_NavEKF libraries can be compiled when not linked to
// anything except the DAL.
//
#include <AP_DAL/AP_DAL.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_Logger/AP_Logger.h>
void AP_Param::setup_object_defaults(void const*, AP_Param::GroupInfo const*) {}
template<typename T, ap_var_type PT>
void AP_ParamT<T, PT>::set_and_default(const T &v) {}
template class AP_ParamT<int8_t, AP_PARAM_INT8>;
int AP_HAL::Util::vsnprintf(char*, size_t, char const*, va_list) { return -1; }
void *nologger = nullptr;
AP_Logger &AP::logger() {
return *((AP_Logger*)nologger); // this is not usually a good idea...
}
void AP_Logger::WriteBlock(void const*, unsigned short) {}
class AP_HAL_DAL_Standalone : public AP_HAL::HAL {
public:
AP_HAL_DAL_Standalone() :
AP_HAL::HAL(
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr
) {}
void run(int argc, char* const argv[], Callbacks* callbacks) const override {}
void setup() { }
void loop() { }
};
AP_HAL_DAL_Standalone _hal;
const AP_HAL::HAL &hal = _hal;
NavEKF2 navekf2;
NavEKF3 navekf3;
int main(int argc, const char *argv[])
{
navekf2.InitialiseFilter();
navekf3.InitialiseFilter();
navekf2.UpdateFilter();
navekf3.UpdateFilter();
return navekf2.healthy() && navekf3.healthy()?0:1;
}