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ahrs_float_cmpl_quat.makefile
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ahrs_float_cmpl_quat.makefile
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# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_CFLAGS += -DUSE_MAGNETOMETER
else
AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_QUAT
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
#
# NPS uses the real algorithm
#
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
jsbsim.CFLAGS += $(ahrssim_CFLAGS)
jsbsim.srcs += $(ahrssim_srcs)