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ins_float_invariant.makefile
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ins_float_invariant.makefile
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# Hey Emacs, this is a -*- makefile -*-
# attitude and speed estimation for fixedwings via invariant filter
INS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ins/ins_float_invariant.h\"
INS_CFLAGS += -DUSE_AHRS_ALIGNER
INS_CFLAGS += -DUSE_AHRS
INS_CFLAGS += -DINS_UPDATE_FW_ESTIMATOR
INS_SRCS += $(SRC_SUBSYSTEMS)/ahrs.c
INS_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
INS_SRCS += $(SRC_SUBSYSTEMS)/ins.c
INS_SRCS += $(SRC_SUBSYSTEMS)/ins/ins_float_invariant.c
ifneq ($(AHRS_ALIGNER_LED),none)
INS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ap.CFLAGS += $(INS_CFLAGS)
ap.srcs += $(INS_SRCS)
#
# NPS uses the real algorithm
#
nps.CFLAGS += $(INS_CFLAGS)
nps.srcs += $(INS_SRCS)
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
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)