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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 14:16:34 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 14:16:34 +0200 |
| commit | 76a30108d2eab6a65f5fc92e2f9550d25ad5656c (patch) | |
| tree | c2a092c7a0e3d1ef204a71535dffd85c1ef992ed | |
| parent | 5974c37abba562c1372beb04490014db274fd175 (diff) | |
| download | px4-firmware-76a30108d2eab6a65f5fc92e2f9550d25ad5656c.tar.gz px4-firmware-76a30108d2eab6a65f5fc92e2f9550d25ad5656c.tar.bz2 px4-firmware-76a30108d2eab6a65f5fc92e2f9550d25ad5656c.zip | |
Moved James Gopperts EKF to the new world
| -rw-r--r-- | makefiles/config_px4fmu_default.mk | 2 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp (renamed from apps/examples/kalman_demo/KalmanNav.cpp) | 0 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.hpp (renamed from apps/examples/kalman_demo/KalmanNav.hpp) | 0 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/kalman_main.cpp (renamed from apps/examples/kalman_demo/kalman_demo.cpp) | 4 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/module.mk (renamed from apps/examples/kalman_demo/Makefile) | 11 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/params.c (renamed from apps/examples/kalman_demo/params.c) | 0 |
6 files changed, 10 insertions, 7 deletions
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 00aec3f8a..0767f7144 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -54,6 +54,7 @@ MODULES += modules/mavlink_onboard # MODULES += modules/attitude_estimator_ekf MODULES += modules/position_estimator_mc +MODULES += modules/att_pos_estimator_ekf # # Logging @@ -78,7 +79,6 @@ BUILTIN_COMMANDS := \ $(call _B, control_demo, , 2048, control_demo_main ) \ $(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \ $(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \ - $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 4ef150da1..4ef150da1 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp index c2bf18115..c2bf18115 100644 --- a/apps/examples/kalman_demo/KalmanNav.hpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp diff --git a/apps/examples/kalman_demo/kalman_demo.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp index 581b68b01..aebe3d1fe 100644 --- a/apps/examples/kalman_demo/kalman_demo.cpp +++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp @@ -55,7 +55,7 @@ static int deamon_task; /**< Handle of deamon task / thread */ /** * Deamon management function. */ -extern "C" __EXPORT int kalman_demo_main(int argc, char *argv[]); +extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]); /** * Mainloop of deamon. @@ -85,7 +85,7 @@ usage(const char *reason) * The actual stack size should be set in the call * to task_create(). */ -int kalman_demo_main(int argc, char *argv[]) +int att_pos_estimator_ekf_main(int argc, char *argv[]) { if (argc < 1) diff --git a/apps/examples/kalman_demo/Makefile b/src/modules/att_pos_estimator_ekf/module.mk index 99c34d934..abc664018 100644 --- a/apps/examples/kalman_demo/Makefile +++ b/src/modules/att_pos_estimator_ekf/module.mk @@ -35,8 +35,11 @@ # Basic example application # -APPNAME = kalman_demo -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 +MODULE_COMMAND = att_pos_estimator_ekf -include $(APPDIR)/mk/app.mk +# XXX this might be intended for the spawned deamon, validate +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" + +SRCS = kalman_main.cpp \ + KalmanNav.cpp \ + params.c diff --git a/apps/examples/kalman_demo/params.c b/src/modules/att_pos_estimator_ekf/params.c index 50642f067..50642f067 100644 --- a/apps/examples/kalman_demo/params.c +++ b/src/modules/att_pos_estimator_ekf/params.c |