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CMakeLists.txt
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CMakeLists.txt
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############################################################################
#
# Copyright (c) 2015-2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#############################################################################
add_subdirectory(Utility)
px4_add_module(
MODULE modules__ekf2
MAIN ekf2
COMPILE_FLAGS
${MAX_CUSTOM_OPT_LEVEL}
-fno-associative-math
#-DDEBUG_BUILD
INCLUDES
EKF
PRIORITY
"SCHED_PRIORITY_MAX - 18" # max priority below high priority WQ threads
STACK_MAX
3600
SRCS
EKF/airspeed_fusion.cpp
EKF/baro_bias_estimator.cpp
EKF/control.cpp
EKF/covariance.cpp
EKF/drag_fusion.cpp
EKF/ekf.cpp
EKF/ekf_helper.cpp
EKF/EKFGSF_yaw.cpp
EKF/estimator_interface.cpp
EKF/fake_pos_control.cpp
EKF/gps_checks.cpp
EKF/gps_control.cpp
EKF/gps_fusion.cpp
EKF/gps_yaw_fusion.cpp
EKF/height_fusion.cpp
EKF/imu_down_sampler.cpp
EKF/mag_control.cpp
EKF/mag_fusion.cpp
EKF/optflow_fusion.cpp
EKF/range_finder_consistency_check.cpp
EKF/sensor_range_finder.cpp
EKF/sideslip_fusion.cpp
EKF/terrain_estimator.cpp
EKF/utils.cpp
EKF/vel_pos_fusion.cpp
EKF/zero_velocity_update.cpp
EKF2.cpp
EKF2.hpp
EKF2Selector.cpp
EKF2Selector.hpp
DEPENDS
geo
hysteresis
perf
EKF2Utility
px4_work_queue
world_magnetic_model
UNITY_BUILD
)
if(BUILD_TESTING)
add_subdirectory(EKF)
add_subdirectory(test)
endif()