diff options
| -rwxr-xr-x | apps/attitude_estimator_ekf/Makefile | 56 | ||||
| -rw-r--r-- | makefiles/config_px4fmu_default.mk | 6 | ||||
| -rw-r--r-- | makefiles/config_px4fmuv2_default.mk | 6 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.c (renamed from apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c) | 1 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c (renamed from apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h (renamed from apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c (renamed from apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h (renamed from apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c (renamed from apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h (renamed from apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c (renamed from apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h (renamed from apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h (renamed from apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/cross.c (renamed from apps/attitude_estimator_ekf/codegen/cross.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/cross.h (renamed from apps/attitude_estimator_ekf/codegen/cross.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/eye.c (renamed from apps/attitude_estimator_ekf/codegen/eye.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/eye.h (renamed from apps/attitude_estimator_ekf/codegen/eye.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/mrdivide.c (renamed from apps/attitude_estimator_ekf/codegen/mrdivide.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/mrdivide.h (renamed from apps/attitude_estimator_ekf/codegen/mrdivide.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/norm.c (renamed from apps/attitude_estimator_ekf/codegen/norm.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/norm.h (renamed from apps/attitude_estimator_ekf/codegen/norm.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rdivide.c (renamed from apps/attitude_estimator_ekf/codegen/rdivide.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rdivide.h (renamed from apps/attitude_estimator_ekf/codegen/rdivide.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rtGetInf.c (renamed from apps/attitude_estimator_ekf/codegen/rtGetInf.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rtGetInf.h (renamed from apps/attitude_estimator_ekf/codegen/rtGetInf.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c (renamed from apps/attitude_estimator_ekf/codegen/rtGetNaN.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h (renamed from apps/attitude_estimator_ekf/codegen/rtGetNaN.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rt_defines.h (renamed from apps/attitude_estimator_ekf/codegen/rt_defines.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c (renamed from apps/attitude_estimator_ekf/codegen/rt_nonfinite.c) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h (renamed from apps/attitude_estimator_ekf/codegen/rt_nonfinite.h) | 0 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/codegen/rtwtypes.h (renamed from apps/attitude_estimator_ekf/codegen/rtwtypes.h) | 0 | ||||
| -rw-r--r-- | src/modules/attitude_estimator_ekf/module.mk | 16 |
32 files changed, 26 insertions, 59 deletions
diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile deleted file mode 100755 index 734af7cc1..000000000 --- a/apps/attitude_estimator_ekf/Makefile +++ /dev/null @@ -1,56 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 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. -# -############################################################################ - -APPNAME = attitude_estimator_ekf -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -CSRCS = attitude_estimator_ekf_main.c \ - attitude_estimator_ekf_params.c \ - codegen/eye.c \ - codegen/attitudeKalmanfilter.c \ - codegen/mrdivide.c \ - codegen/rdivide.c \ - codegen/attitudeKalmanfilter_initialize.c \ - codegen/attitudeKalmanfilter_terminate.c \ - codegen/rt_nonfinite.c \ - codegen/rtGetInf.c \ - codegen/rtGetNaN.c \ - codegen/norm.c \ - codegen/cross.c - - -# XXX this is *horribly* broken -INCLUDES += $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 4dd2a2257..c7109f213 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -17,6 +17,11 @@ MODULES += drivers/l3gd20 MODULES += systemcmds/eeprom # +# Estimation modules (EKF / other filters) +# +MODULES += modules/attitude_estimator_ekf + +# # Transitional support - add commands from the NuttX export archive. # # In general, these should move to modules over time. @@ -32,7 +37,6 @@ endef BUILTIN_COMMANDS := \ $(call _B, adc, , 2048, adc_main ) \ $(call _B, ardrone_interface, SCHED_PRIORITY_MAX-15, 2048, ardrone_interface_main ) \ - $(call _B, attitude_estimator_ekf, , 2048, attitude_estimator_ekf_main) \ $(call _B, bl_update, , 4096, bl_update_main ) \ $(call _B, blinkm, , 2048, blinkm_main ) \ $(call _B, bma180, , 2048, bma180_main ) \ diff --git a/makefiles/config_px4fmuv2_default.mk b/makefiles/config_px4fmuv2_default.mk index f86604a73..659b9c95b 100644 --- a/makefiles/config_px4fmuv2_default.mk +++ b/makefiles/config_px4fmuv2_default.mk @@ -18,6 +18,11 @@ MODULES += drivers/rgbled MODULES += systemcmds/ramtron # +# Estimation modules (EKF / other filters) +# +MODULES += modules/attitude_estimator_ekf + +# # Transitional support - add commands from the NuttX export archive. # # In general, these should move to modules over time. @@ -32,7 +37,6 @@ endef # command priority stack entrypoint BUILTIN_COMMANDS := \ $(call _B, adc, , 2048, adc_main ) \ - $(call _B, attitude_estimator_ekf, , 2048, attitude_estimator_ekf_main) \ $(call _B, bl_update, , 4096, bl_update_main ) \ $(call _B, blinkm, , 2048, blinkm_main ) \ $(call _B, boardinfo, , 2048, boardinfo_main ) \ diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.c index bd972f03f..9fc4dfc83 100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -46,7 +46,6 @@ #include <stdbool.h> #include <poll.h> #include <fcntl.h> -#include <v1.0/common/mavlink.h> #include <float.h> #include <nuttx/sched.h> #include <sys/prctl.h> diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 7d3812abd..7d3812abd 100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h index 09817d58e..09817d58e 100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c index 9e97ad11a..9e97ad11a 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h index afa63c1a9..afa63c1a9 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c index 7d620d7fa..7d620d7fa 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h index 8b599be66..8b599be66 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c index 7f9727419..7f9727419 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h index da84a5024..da84a5024 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h index 30fd1e75e..30fd1e75e 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/src/modules/attitude_estimator_ekf/codegen/cross.c index 84ada9002..84ada9002 100755 --- a/apps/attitude_estimator_ekf/codegen/cross.c +++ b/src/modules/attitude_estimator_ekf/codegen/cross.c diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/src/modules/attitude_estimator_ekf/codegen/cross.h index e727f0684..e727f0684 100755 --- a/apps/attitude_estimator_ekf/codegen/cross.h +++ b/src/modules/attitude_estimator_ekf/codegen/cross.h diff --git a/apps/attitude_estimator_ekf/codegen/eye.c b/src/modules/attitude_estimator_ekf/codegen/eye.c index b89ab58ef..b89ab58ef 100755 --- a/apps/attitude_estimator_ekf/codegen/eye.c +++ b/src/modules/attitude_estimator_ekf/codegen/eye.c diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/src/modules/attitude_estimator_ekf/codegen/eye.h index 94fbe7671..94fbe7671 100755 --- a/apps/attitude_estimator_ekf/codegen/eye.h +++ b/src/modules/attitude_estimator_ekf/codegen/eye.h diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c index a810f22e4..a810f22e4 100755 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.c +++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h index 2d3b0d51f..2d3b0d51f 100755 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.h +++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/src/modules/attitude_estimator_ekf/codegen/norm.c index 0c418cc7b..0c418cc7b 100755 --- a/apps/attitude_estimator_ekf/codegen/norm.c +++ b/src/modules/attitude_estimator_ekf/codegen/norm.c diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/src/modules/attitude_estimator_ekf/codegen/norm.h index 60cf77b57..60cf77b57 100755 --- a/apps/attitude_estimator_ekf/codegen/norm.h +++ b/src/modules/attitude_estimator_ekf/codegen/norm.h diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.c b/src/modules/attitude_estimator_ekf/codegen/rdivide.c index d035dae5e..d035dae5e 100755 --- a/apps/attitude_estimator_ekf/codegen/rdivide.c +++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.c diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/src/modules/attitude_estimator_ekf/codegen/rdivide.h index 4bbebebe2..4bbebebe2 100755 --- a/apps/attitude_estimator_ekf/codegen/rdivide.h +++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.h diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c index 34164d104..34164d104 100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.c +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h index 145373cd0..145373cd0 100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.h +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c index d84ca9573..d84ca9573 100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h index 65fdaa96f..65fdaa96f 100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h index 356498363..356498363 100755 --- a/apps/attitude_estimator_ekf/codegen/rt_defines.h +++ b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c index 303d1d9d2..303d1d9d2 100755 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c +++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h index bd56b30d9..bd56b30d9 100755 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h +++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h index 9a5c96267..9a5c96267 100755 --- a/apps/attitude_estimator_ekf/codegen/rtwtypes.h +++ b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk new file mode 100644 index 000000000..4033617c4 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -0,0 +1,16 @@ + +MODULE_NAME = attitude_estimator_ekf +SRCS = attitude_estimator_ekf_main.c \ + attitude_estimator_ekf_params.c \ + codegen/attitudeKalmanfilter_initialize.c \ + codegen/attitudeKalmanfilter_terminate.c \ + codegen/attitudeKalmanfilter.c \ + codegen/cross.c \ + codegen/eye.c \ + codegen/mrdivide.c \ + codegen/norm.c \ + codegen/rdivide.c \ + codegen/rt_nonfinite.c \ + codegen/rtGetInf.c \ + codegen/rtGetNaN.c + |