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Code Issues Actions 21 Packages Projects Releases Wiki Activity

ekf2: move EKF out of ecl

Browse Source
This commit is contained in:
Daniel Agar
2021-07-14 18:29:43 -04:00
parent 883624d915
commit 2cf66a5d8f
216 changed files with 1369 additions and 2399 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/ekf_functional_change_indicator.yml
+4 -3
View File
@@ -8,13 +8,14 @@ jobs:
container: px4io/px4-dev-base-focal:2021-05-04
steps:
- uses: actions/checkout@v2.3.1
with:
fetch-depth: 0
- name: checkout newest version of branch
run: |
git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
git checkout ${GITHUB_HEAD_REF}
- name: main test
run: cd ${GITHUB_WORKSPACE}/src/lib/ecl; make test
working-directory: src/lib/ecl
run: make tests TESTFILTER=EKF
- name: Check if there is a functional change
run: git diff --exit-code
working-directory: src/lib/ecl/test/change_indication
working-directory: src/modules/ekf2/test/change_indication
.github/workflows/ekf_standalone_build_tests.yml
-56
View File
@@ -1,56 +0,0 @@
name: EKF Build Tests
on:
push:
branches:
- master
pull_request:
branches:
- '*'
jobs:
Linux-GCC:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-05-04
steps:
- uses: actions/checkout@v1
- name: main build
run: make
working-directory: src/lib/ecl
- name: clean build
run: make clean
working-directory: src/lib/ecl
- name: main test
run: make test
working-directory: src/lib/ecl
Linux-Clang:
runs-on: ubuntu-latest
container: px4io/px4-dev-clang:2021-05-04
env:
CC: clang
CXX: clang++
steps:
- uses: actions/checkout@v1
- name: main build
run: make
working-directory: src/lib/ecl
- name: clean build
run: make clean
working-directory: src/lib/ecl
- name: main test
run: make test
working-directory: src/lib/ecl
Mac-OS:
runs-on: macos-latest
steps:
- uses: actions/checkout@v1
- name: main build
run: make
working-directory: src/lib/ecl
- name: clean build
run: make clean
working-directory: src/lib/ecl
- name: main test
run: make test
working-directory: src/lib/ecl
.github/workflows/ekf_update_change_indicator.yml
+4 -2
View File
@@ -11,11 +11,13 @@ jobs:
GIT_COMMITTER_NAME: PX4BuildBot
steps:
- uses: actions/checkout@v2.3.1
with:
fetch-depth: 0
- name: main test updates change indication files
run: cd ${GITHUB_WORKSPACE}/src/lib/ecl; make test
run: make tests TESTFILTER=EKF
- name: Check if there exists diff and save result in variable
run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
working-directory: src/lib/ecl/test/change_indication
working-directory: src/modules/ekf2/test/change_indication
- name: auto-commit any changes to change indication
uses: stefanzweifel/git-auto-commit-action@v4
with:
Tools/astyle/files_to_check_code_style.sh
+3 -3
View File
@@ -12,16 +12,16 @@ exec find boards msg src platforms test \
-path platforms/nuttx/NuttX -prune -o \
-path platforms/qurt/dspal -prune -o \
-path src/drivers/uavcan/libuavcan -prune -o \
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-path src/drivers/uavcan_v1/libcanard -prune -o \
-path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-path src/lib/ecl -prune -o \
-path src/lib/crypto/monocypher -prune -o \
-path src/lib/events/libevents -prune -o \
-path src/lib/matrix -prune -o \
-path src/lib/parameters/uthash -prune -o \
-path src/modules/ekf2/EKF -prune -o \
-path src/modules/gyro_fft/CMSIS_5 -prune -o \
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
-path test/mavsdk_tests/catch2 -prune -o \
-path src/lib/crypto/monocypher -prune -o \
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
boards/px4/fmu-v5/optimized.cmake
+1 -1
View File
@@ -96,7 +96,7 @@ px4_add_board(
#uuv_att_control
#uuv_pos_control
#vmount
vtol_att_control
#vtol_att_control
SYSTEMCMDS
#bl_update
dmesg
src/lib/CMakeLists.txt
-1
View File
@@ -46,7 +46,6 @@ add_subdirectory(controllib)
add_subdirectory(conversion)
add_subdirectory(crypto)
add_subdirectory(drivers)
add_subdirectory(ecl)
add_subdirectory(geo)
add_subdirectory(hysteresis)
add_subdirectory(l1)
src/lib/ecl/.clang-format
-117
View File
@@ -1,117 +0,0 @@
---
Language: Cpp
# BasedOnStyle: Google
AccessModifierOffset: -8 # Modified
AlignAfterOpenBracket: Align
AlignConsecutiveAssignments: false
AlignConsecutiveDeclarations: false
AlignEscapedNewlines: Left
AlignOperands: true
AlignTrailingComments: true
AllowAllParametersOfDeclarationOnNextLine: true
AllowShortBlocksOnASingleLine: false
AllowShortCaseLabelsOnASingleLine: false
AllowShortFunctionsOnASingleLine: All
AllowShortIfStatementsOnASingleLine: true
AllowShortLoopsOnASingleLine: true
AlwaysBreakAfterDefinitionReturnType: None
AlwaysBreakAfterReturnType: None
AlwaysBreakBeforeMultilineStrings: true
AlwaysBreakTemplateDeclarations: true
BinPackArguments: true
BinPackParameters: true
BraceWrapping:
AfterClass: false
AfterControlStatement: false
AfterEnum: false
AfterFunction: false
AfterNamespace: false
AfterObjCDeclaration: false
AfterStruct: false
AfterUnion: false
AfterExternBlock: false
BeforeCatch: false
BeforeElse: false
IndentBraces: false
SplitEmptyFunction: true
SplitEmptyRecord: true
SplitEmptyNamespace: true
BreakBeforeBinaryOperators: None
BreakBeforeBraces: Linux
BreakBeforeInheritanceComma: false
BreakBeforeTernaryOperators: true
BreakConstructorInitializersBeforeComma: false
BreakConstructorInitializers: BeforeColon
BreakAfterJavaFieldAnnotations: false
BreakStringLiterals: true
ColumnLimit: 120
CommentPragmas: '^ IWYU pragma:'
CompactNamespaces: false
ConstructorInitializerAllOnOneLineOrOnePerLine: true
ConstructorInitializerIndentWidth: 4
ContinuationIndentWidth: 4
Cpp11BracedListStyle: true
DerivePointerAlignment: true
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
FixNamespaceComments: true
ForEachMacros:
- foreach
- Q_FOREACH
- BOOST_FOREACH
IncludeBlocks: Preserve
IncludeCategories:
- Regex: '^<ext/.*\.h>'
Priority: 2
- Regex: '^<.*\.h>'
Priority: 1
- Regex: '^<.*'
Priority: 2
- Regex: '.*'
Priority: 3
IncludeIsMainRegex: '([-_](test|unittest))?$'
IndentCaseLabels: true
IndentPPDirectives: None
IndentWidth: 8 # Modified
IndentWrappedFunctionNames: false
JavaScriptQuotes: Leave
JavaScriptWrapImports: true
KeepEmptyLinesAtTheStartOfBlocks: true # Modified
MacroBlockBegin: ''
MacroBlockEnd: ''
MaxEmptyLinesToKeep: 1
NamespaceIndentation: None
ObjCBlockIndentWidth: 2
ObjCSpaceAfterProperty: false
ObjCSpaceBeforeProtocolList: false
PenaltyBreakAssignment: 200 # Modified
PenaltyBreakBeforeFirstCallParameter: 20 # Modified
PenaltyBreakComment: 300
PenaltyBreakFirstLessLess: 120
PenaltyBreakString: 1000
PenaltyExcessCharacter: 1000000
PenaltyReturnTypeOnItsOwnLine: 200
PointerAlignment: Left
RawStringFormats:
- Delimiter: pb
Language: TextProto
BasedOnStyle: google
ReflowComments: true
SortIncludes: true
SortUsingDeclarations: true
SpaceAfterCStyleCast: false
SpaceAfterTemplateKeyword: true
SpaceBeforeAssignmentOperators: true
SpaceBeforeParens: ControlStatements
SpaceInEmptyParentheses: false
SpacesBeforeTrailingComments: 2
SpacesInAngles: false
SpacesInContainerLiterals: true
SpacesInCStyleCastParentheses: false
SpacesInParentheses: false
SpacesInSquareBrackets: false
Standard: Auto
TabWidth: 8 # Modified
UseTab: Always # Modified
...
src/lib/ecl/.editorconfig
-5
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@@ -1,5 +0,0 @@
# EditorConfig https://EditorConfig.org
root = true
[{Makefile,CMakeLists.txt}]
indent_style = tab
src/lib/ecl/.gitignore
-18
View File
@@ -1,18 +0,0 @@
*.DS_Store
*.gcov
*~
*.orig
.cache/
build/
*/*.a
.ninja_deps
.ninja_log
build.ninja
cmake_install.cmake
CMakeCache.txt
CMakeFiles
compile_commands.json
matrix-prefix/
rules.ninja
src/lib/ecl/.travis.yml
-31
View File
@@ -1,31 +0,0 @@
sudo: required
services:
- docker
language: cpp
matrix:
fast_finish: true
include:
- env: BUILD_TARGET=coverity_scan
dist: trusty
if: branch = coverity_scan
before_install:
- echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
script:
- make distclean
- make
addons:
coverity_scan:
project:
name: "PX4/ecl"
description: "Build submitted via Travis CI"
notification_email: ci@px4.io
build_command_prepend: "make distclean"
build_command: "make"
branch_pattern: coverity_scan
src/lib/ecl/CMakeLists.txt
-251
View File
@@ -1,251 +0,0 @@
############################################################################
#
# Copyright (c) 2015-2018 ECL 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 ECL 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.
#
############################################################################
cmake_minimum_required(VERSION 3.0)
project(ECL CXX)
if(NOT CMAKE_BUILD_TYPE)
# force debug builds if we test ECL as standalone
if(BUILD_TESTING AND CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "Build type" FORCE)
else()
set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
endif()
endif()
message(STATUS "build type is ${CMAKE_BUILD_TYPE}")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
execute_process(
COMMAND git describe --always --tags
OUTPUT_VARIABLE git_tag
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)
endif()
message(STATUS "PX4 ECL: Very lightweight Estimation & Control Library ${git_tag}")
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# code coverage support
option(COV_HTML "Display html for coverage" OFF)
option(ECL_ASAN "Enable ECL address sanitizer" OFF)
if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
set(CMAKE_CXX_FLAGS_COVERAGE
"--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0 -fprofile-arcs -fno-inline-functions -fno-elide-constructors"
CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
"-ftest-coverage -fdiagnostics-absolute-paths"
CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
else()
set(CMAKE_CXX_FLAGS_COVERAGE
# Bring back -fprofile-abs-path when GCC 9 is available on Ubuntu LTS
"--coverage -fprofile-arcs -ftest-coverage -O0 -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
"--coverage -ftest-coverage -lgcov"
CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
endif()
mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE)
set(ECL_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR} CACHE STRING "ECL source location" FORCE)
if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
# ECL standalone build
add_definitions(-DECL_STANDALONE)
set(ECL_STANDALONE 1)
add_custom_target(prebuild_targets)
if(MSVC)
add_compile_options(
/W4
/WX
/D_USE_MATH_DEFINES
/wd4100 # warning C4100: unreferenced formal parameter
/wd4244 # warning C4244: '=': conversion from 'double' to 'int32_t', possible loss of data
)
elseif(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
add_compile_options(
-pedantic
-Wall
-Wextra
-Werror
-Wno-missing-field-initializers # ignore for GCC 4.8 support
)
endif()
if(BUILD_TESTING)
include(CTest)
option(ECL_TESTS "Build ECL tests" ON)
add_custom_target(check
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -C Debug
DEPENDS ecl_EKF
USES_TERMINAL
)
endif()
# fetch latest matrix from github
include(ExternalProject)
ExternalProject_Add(matrix
GIT_REPOSITORY "https://github.com/PX4/Matrix.git"
GIT_TAG f981cea2aebfc9cfd930dce73ba6d4d6681e99c1
UPDATE_COMMAND ""
PATCH_COMMAND ""
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
INSTALL_COMMAND ""
)
add_dependencies(prebuild_targets matrix)
include_directories(${CMAKE_BINARY_DIR}/matrix-prefix/src/matrix)
# temporary
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/../mathlib/math/filter/AlphaFilter.hpp ${CMAKE_CURRENT_BINARY_DIR}/mathlib/math/filter/AlphaFilter.hpp COPYONLY)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
add_definitions(-Dhrt_absolute_time=uint64_t)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../geo geo)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../world_magnetic_model world_magnetic_model)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../..)
endif()
if(NOT (${CMAKE_BUILD_TYPE} MATCHES "Coverage") AND NOT (${CMAKE_BUILD_TYPE} MATCHES "Debug"))
if(MAX_CUSTOM_OPT_LEVEL)
add_compile_options(${MAX_CUSTOM_OPT_LEVEL})
endif()
endif()
# santiziers (ASAN)
if(ECL_ASAN)
message(STATUS "ecl address sanitizer enabled ")
# environment variables
# ASAN_OPTIONS=detect_stack_use_after_return=1
# ASAN_OPTIONS=check_initialization_order=1
add_compile_options(
-fsanitize=address
-g3
-O1
-fno-omit-frame-pointer
)
set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address)
endif()
add_subdirectory(EKF)
if(BUILD_TESTING AND CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
add_subdirectory(test)
endif()
#=============================================================================
# Coverage
#
if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
add_custom_target(coverage
COMMAND ${CMAKE_CTEST_COMMAND}
COMMAND lcov --capture --directory . --output-file coverage.info
COMMAND lcov --remove coverage.info --output-file coverage.info '/usr/*' '${CMAKE_BINARY_DIR}/*' # filter out system
COMMAND lcov --summary coverage.info
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
DEPENDS check
)
add_custom_target(coverage_html
COMMAND genhtml coverage.info --output-directory out
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
DEPENDS coverage
)
add_custom_target(coverage_html_view
COMMAND x-www-browser out/index.html
WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
DEPENDS coverage_html
)
endif()
#=============================================================================
# Doxygen
#
# Only in standalone build
if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
if (BUILD_DOXYGEN)
find_package(Doxygen)
if (DOXYGEN_FOUND)
# set input and output files
set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/docs/Doxyfile.in)
set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
# request to configure the file
configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
# note the option ALL which allows to build the docs together with the application
add_custom_target(doxygen ALL
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
COMMENT "Generating documentation with Doxygen"
DEPENDS
VERBATIM
USES_TERMINAL
)
else()
message(FATAL_ERROR "Doxygen needs to be installed to generate documentation")
endif()
endif()
endif()
src/lib/ecl/CONTRIBUTING.md
-36
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@@ -1,36 +0,0 @@
# Contribution Guidelines
## Auto-Formatting
ECL uses clang-format to auto-format the code. Currently it is using the clang-format-6.0.
The enforced style is based on the google style. Google's [Style Guide](https://google.github.io/styleguide/cppguide.html) is the place to look for advice.
The format is not enforced on all files. The list of files on which the auto-format checks are run on can be found in `tools/format.sh`
On Ubuntu (tested on 18.04) the following command can be used to check if the code is complying with the format requirements
```
make check_format
```
To auto-format the code run
```
make format
```
## Continuous Integration
There are multiple checks run on a submitted PR:
| Test | Description |
| ------------- | ------------- |
| - **Build tests** | Checks if the submitted code is building on various platforms. |
| - **Unit tests** | Run checks if the code is satisfying test cases in `tests/` and report code coverage. |
| - **Format checks** | Check if the files specified in `/tools/format.sh` match the style specified in `.clang-format`. Run [auto-formatting](#Auto-Formatting) |
| - **Firmware build tests**| Pulls PX4/Firmware and checks if the current branch of ECL compiles with it. It tries to checkout a branch in PX4/Firmware with the name matching the current ECL branch name. If a branch with that name does not exist then it will checkout master. |
## Unit tests
# How to run the tests
The test can be executed by running:
```
make test
```
# How to add a test
tbd
src/lib/ecl/LICENSE
-28
View File
@@ -1,28 +0,0 @@
Copyright (c) 2015, Lorenz Meier
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* 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.
* Neither the name of libgnc 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 HOLDER 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.
src/lib/ecl/Makefile
-154
View File
@@ -1,154 +0,0 @@
############################################################################
#
# Copyright (c) 2018 ECL 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.
#
############################################################################
# Parsing
# --------------------------------------------------------------------
# assume 1st argument passed is the main target, the
# rest are arguments to pass to the makefile generated
# by cmake in the subdirectory
FIRST_ARG := $(firstword $(MAKECMDGOALS))
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
j ?= 4
BLUE='\033[1;36m'
NC='\033[0m' # No Color
NINJA_BIN := ninja
ifndef NO_NINJA_BUILD
NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
ifndef NINJA_BUILD
NINJA_BIN := ninja-build
NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
endif
endif
ifdef NINJA_BUILD
PX4_CMAKE_GENERATOR := Ninja
PX4_MAKE := $(NINJA_BIN)
ifdef VERBOSE
PX4_MAKE_ARGS := -v
else
PX4_MAKE_ARGS :=
endif
else
ifdef SYSTEMROOT
# Windows
PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
else
PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
endif
PX4_MAKE = $(MAKE)
PX4_MAKE_ARGS = -j$(j) --no-print-directory
endif
SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) $(3) $(4) $(5) || (rm -rf $(BUILD_DIR)); fi
+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
all:
@$(call cmake-build,$@,$(SRC_DIR))
# Documentation
# --------------------------------------------------------------------
doxygen:
@$(call cmake-build,$@,$(SRC_DIR), "-DBUILD_DOXYGEN=ON")
@cmake --build $(SRC_DIR)/build/doxygen --target doxygen
# Testing
# --------------------------------------------------------------------
.PHONY: test_build test
test_build:
@$(call cmake-build,$@,$(SRC_DIR), "-DBUILD_TESTING=ON")
test: test_build
@cmake --build $(SRC_DIR)/build/test_build --target check
test_build_asan:
@$(call cmake-build,$@,$(SRC_DIR), "-DECL_ASAN=ON", "-DBUILD_TESTING=ON")
test_asan: test_build_asan
@cmake --build $(SRC_DIR)/build/test_build_asan --target check
# Code coverage
# --------------------------------------------------------------------
coverage_build:
@$(call cmake-build,$@,$(SRC_DIR), "-DCMAKE_BUILD_TYPE=Coverage", "-DBUILD_TESTING=ON")
coverage: coverage_build
@cmake --build $(SRC_DIR)/build/coverage_build --target coverage
coverage_html: coverage_build
@cmake --build $(SRC_DIR)/build/coverage_build --target coverage_html
coverage_html_view: coverage_build
@cmake --build $(SRC_DIR)/build/coverage_build --target coverage_html_view
# Code formatting
# --------------------------------------------------------------------
.PHONY: check_format format clang-format
clang-format:
@echo -e ${BLUE}Check clang-format-6.0 installation${NC}
@if ! hash clang-format-6.0; then sudo apt install clang-format-6.0 -y; fi
check_format: clang-format
@echo -e ${BLUE}Checking formatting with clang-format${NC}
@$(SRC_DIR)/tools/format.sh 0
format: clang-format
@echo -e ${BLUE}Formatting with clang-format${NC}
@$(SRC_DIR)/tools/format.sh 1
# Cleanup
# --------------------------------------------------------------------
.PHONY: clean distclean
clean:
@rm -rf $(SRC_DIR)/build
distclean:
@git clean -ff -x -d .
src/lib/ecl/README.md
-61
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@@ -1,61 +0,0 @@
# ECL
**Very lightweight Estimation & Control Library.**
[![DOI](https://zenodo.org/badge/22634/PX4/PX4-ECL.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-ECL)
This library solves the estimation & control problems of a number of robots and drones. It accepts GPS, vision and inertial sensor inputs. It is extremely lightweight and efficient and yet has the rugged field-proven performance.
The library is BSD 3-clause licensed.
## EKF Documentation
* [EKF Documentation and Tuning Guide](https://docs.px4.io/master/en/advanced_config/tuning_the_ecl_ekf.html)
## Building EKF
### Prerequisites:
* Matrix: A lightweight, BSD-licensed matrix math library: https://github.com/px4/matrix - it is automatically included as submodule.
By following the steps mentioned below you can create a static library which can be included in projects:
```
make
// OR
mkdir build/
cd build/
cmake ..
make
```
## Testing ECL
By following the steps you can run the unit tests
```
make test
```
### Change Indicator / Unit Tests
Change indication is the concept of running the EKF on different data-sets and compare the state of the EKF to a previous version. If a contributor makes a functional change that is run during the change_indication tests, this will produce a different output of the EKF's state. As the tests are run in CI, this checks if a contributor forgot to run the checks themselves and add the [new EKF's state outputs](https://github.com/PX4/ecl/blob/master/test/change_indication/iris_gps.csv) to the pull request.
The unit tests include a check to see if the pull request results in a difference to the [output data csv file](https://github.com/PX4/ecl/blob/master/test/change_indication/iris_gps.csv) when replaying the [sensor data csv file](https://github.com/PX4/ecl/blob/master/test/replay_data/iris_gps.csv). If a pull request results in an expected difference, then it is important that the output reference file be re-generated and included as part of the pull request. A non-functional pull request should not result in changes to this file, however the default test case does not exercise all sensor types so this test passing is a necessary, but not sufficient requirement for a non-functional pull request.
The functionality that supports this test consists of:
* Python scripts that extract sensor data from ulog files and writes them to a sensor data csv file. The default [sensor data csv file](https://github.com/PX4/ecl/blob/master/test/replay_data/iris_gps.csv) used by the unit test was generated from a ulog created from an iris SITL flight.
* A [script file](https://github.com/PX4/ecl/blob/master/test/test_EKF_withReplayData.cpp) using functionality provided by the [sensor simulator](https://github.com/PX4/ecl/blob/master/test/sensor_simulator/sensor_simulator.cpp), that loads sensor data from the [sensor data csv file](https://github.com/PX4/ecl/blob/master/test/replay_data/iris_gps.csv) , replays the EKF with it and logs the EKF's state and covariance data to the [output data csv file](https://github.com/PX4/ecl/blob/master/test/replay_data/iris_gps.csv).
* CI action that checks if the logs of the test running with replay data is changing. This helps to see if there are functional changes.
#### How to run the Change Indicator test during development on your own logs:
* create sensor_data.csv file from ulog file 'cd test/sensor_simulator/
python3 createSensorDataFile.py <path/to/ulog> ../replay_data/<descriptive_name>.csv'
* Setup the test file to use the EKF with the created sensor data by copy&paste an existing test case in [test/test_EKF_withReplayData.cpp](https://github.com/PX4/ecl/blob/master/test/test_EKF_withReplayData.cpp) and adapt the paths to load the right sensor data and write it to the right place, eg
_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/<descriptive_name>.csv");
_ekf_logger.setFilePath("../../../test/change_indication/<descriptive_name>.csv");
* You can feed the EKF with the data in the csv file, by running '_sensor_simulator.runReplaySeconds(duration_in_seconds)'. Be aware that replay sensor data will only be available when the corresponding sensor simulation are running. By default only imu, baro and mag sensor simulators are running. You can start a sensor simulation by calling _sensor_simulator._<sensor>.start(). Be also aware that you still have to setup the EKF yourself. This includes setting the bit mask (fusion_mode in common.h) according to what you intend to fuse.
* In between _sensor_simulator.runReplaySeconds(duration_in_seconds) calls, write the state and covariances to the change_indication file by including a _ekf_logger.writeStateToFile(); line.
* Run the EKF with your data and all the other tests by running 'make test' from the ecl directory. The [default output data csv file](https://github.com/PX4/ecl/blob/master/test/change_indication/iris_gps.csv) changes can then be included in the PR if differences are causing the CI test to fail.
#### Known Issues
If compiler versions other than GCC 7.5 are used to generate the output data file, then is is possible that the file will cause CI failures due to small numerical differences to file generated by the CI test.
src/lib/ecl/docs/Doxyfile.in
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@@ -1,121 +0,0 @@
# Use: `doxygen -g test.txt` to generate all possible settings for this file
# For modern doxygen style uncomment these three lines:
#HTML_EXTRA_STYLESHEET = @CMAKE_CURRENT_SOURCE_DIR@/doxygen/customdoxygen.css
#HTML_HEADER = @CMAKE_SOURCE_DIR@/Documentation/header.html
#HTML_FOOTER = @CMAKE_SOURCE_DIR@/Documentation/footer.html
# not interested build output
QUIET = YES
# Basic settings:
PROJECT_NAME = "@CMAKE_PROJECT_NAME@"
PROJECT_NUMBER = @PROJECT_VERSION_MAJOR@.@PROJECT_VERSION_MINOR@.@PROJECT_VERSION_PATCH@@VERSION_TYPE@
STRIP_FROM_PATH = @CMAKE_SOURCE_DIR@
INPUT = @CMAKE_SOURCE_DIR@/README.md \
@CMAKE_SOURCE_DIR@ \
@CMAKE_SOURCE_DIR@/src \
@CMAKE_BINARY_DIR@/ \
@CMAKE_BINARY_DIR@/uORB
FILE_PATTERNS = *.h \
*.hpp \
*.hh \
*.c \
*.cc \
*.cpp.in \
*.cpp \
*.md
RECURSIVE = YES
USE_MDFILE_AS_MAINPAGE = "@CMAKE_SOURCE_DIR@/README.md"
# output location
HTML_OUTPUT = "@CMAKE_BINARY_DIR@/Documentation"
IMAGE_PATH = "@CMAKE_SOURCE_DIR@"
# The OUTPUT_LANGUAGE tag is used to specify the language in which all
# documentation generated by doxygen is written. Doxygen will use this
# information to generate all constant output in the proper language.
# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
# Ukrainian and Vietnamese.
# The default value is: English.
OUTPUT_LANGUAGE = English
# Color style
HTML_COLORSTYLE_HUE = 220
HTML_COLORSTYLE_SAT = 40
HTML_COLORSTYLE_GAMMA = 80
# max size 200x55px
PROJECT_LOGO =
# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
# function all documented functions referencing it will be listed.
# The default value is: NO.
REFERENCED_BY_RELATION = YES
# If the REFERENCES_RELATION tag is set to YES then for each documented function
# all documented entities called/used by that function will be listed.
# The default value is: NO.
REFERENCES_RELATION = YES
# This is nice to have - callgraphs of functions
HAVE_DOT = YES
CALL_GRAPH = YES
CALLER_GRAPH = YES
GRAPHICAL_HIERARCHY = YES
DIRECTORY_GRAPH = YES
GENERATE_LEGEND = YES
INCLUDED_BY_GRAPH = YES
INCLUDE_GRAPH = YES
DOT_IMAGE_FORMAT = svg
INTERACTIVE_SVG = YES
# More insight to templates, generaly not needed
TEMPLATE_RELATIONS = NO
# in class diagrams, you will have members and such
# Also they will be bigger
UML_LOOK = YES
UML_LIMIT_NUM_FIELDS = 6
# should all pictures be collapsed?
HTML_DYNAMIC_SECTIONS = NO
# use with: /// @todo Do more stuff.
GENERATE_TODOLIST = YES
# we want all we can get
EXTRACT_ALL = YES
EXTRACT_STATIC = YES
EXTRACT_PRIVATE = YES
# We do not need latex output
GENERATE_LATEX = NO
USE_PDFLATEX = NO
# this makes first sentence from comment block a brief description.
# It is VERY useful
JAVADOC_AUTOBRIEF = YES
# Why not...
BUILTIN_STL_SUPPORT = YES
# Do we want source code browser? YES! Do we want strip comments? NO
SOURCE_BROWSER = YES
STRIP_CODE_COMMENTS = NO
# Side panel
# If you enable this, change .container max-width: 960px; to 1240px
GENERATE_TREEVIEW = YES
src/lib/ecl/ecl.h
-90
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@@ -1,90 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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.
*
****************************************************************************/
/**
* @file ecl.h
* Adapter / shim layer for system calls needed by ECL
*
*/
#pragma once
#if defined(__PX4_POSIX) || defined(__PX4_NUTTX)
#include <drivers/drv_hrt.h>
#include <px4_log.h>
#define ecl_absolute_time hrt_absolute_time
#define ecl_elapsed_time hrt_elapsed_time
using ecl_abstime = hrt_abstime;
#if defined(__PX4_NUTTX)
# define ECL_INFO PX4_DEBUG
# define ECL_WARN PX4_DEBUG
# define ECL_ERR PX4_DEBUG
#else
# define ECL_INFO PX4_INFO
# define ECL_WARN PX4_WARN
# define ECL_ERR PX4_ERR
#endif
#elif defined(__PAPARAZZI)
#include "std.h"
#define ecl_absolute_time() (0)
#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions
using ecl_abstime = uint64_t;
#define ECL_INFO(...)
#define ECL_WARN(...)
#define ECL_ERR(...)
#else
#include <cstdio>
#include <cstdint>
#define ecl_absolute_time() (0)
#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions
using ecl_abstime = uint64_t;
#define ECL_INFO(X, ...) printf(X "\n", ##__VA_ARGS__)
#define ECL_WARN(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__)
#define ECL_ERR(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__)
#endif /* PX4_POSIX || PX4_NUTTX */
#include <math.h>
#define ISFINITE(x) __builtin_isfinite(x)
src/lib/ecl/mathlib/mathlib.h
-96
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@@ -1,96 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012, 2014 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.
*
****************************************************************************/
/**
* @file mathlib.h
*
* Target specific math functions and definitions
*
* @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
*/
#ifndef MATHLIB_H
#define MATHLIB_H
#ifdef ECL_STANDALONE
#ifndef M_PI_F
#define M_PI_F 3.14159265358979323846f
#endif
#ifndef M_PI_2_F
#define M_PI_2_F (M_PI / 2.0f)
#endif
#ifndef M_PI
#define M_PI 3.141592653589793238462643383280
#endif
namespace math
{
template <typename Type>
static constexpr Type min(Type val1, Type val2)
{
return (val1 < val2) ? val1 : val2;
}
template <typename Type>
static constexpr Type max(Type val1, Type val2)
{
return (val1 > val2) ? val1 : val2;
}
template <typename Type>
static constexpr Type constrain(Type val, Type min, Type max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
template <typename Type>
static constexpr Type radians(Type degrees)
{
return (degrees / Type(180)) * Type(M_PI);
}
template <typename Type>
static constexpr Type degrees(Type radians)
{
return (radians * Type(180)) / Type(M_PI);
}
} // namespace math
#else
#include <mathlib/mathlib.h>
#endif // ECL_STANDALONE
#endif // MATHLIB_H
src/lib/ecl/test/CMakeLists.txt.in
-19
View File
@@ -1,19 +0,0 @@
cmake_minimum_required(VERSION 2.8.4)
project(googletest-download NONE)
include(ExternalProject)
ExternalProject_Add(googletest
URL https://github.com/google/googletest/archive/8b6d3f9c4a774bef3081195d422993323b6bb2e0.zip
SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
INSTALL_COMMAND ""
TEST_COMMAND ""
# Wrap download, configure and build steps in a script to log output
LOG_DOWNLOAD ON
LOG_CONFIGURE ON
LOG_BUILD ON
)
src/lib/ecl/test/change_indication/ekf_gsf_reset.csv
-391
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@@ -1,391 +0,0 @@
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
15000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
85000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
185000,0.999749,-0.0104069,-0.0107853,-0.0166343,0.000120003,-0.000106777,-0.0115085,1.36672e-05,-4.60598e-06,-0.000265304,1.72362e-15,-3.18881e-15,-1.02506e-16,0,0,-7.93589e-11,0.191514,0.00185997,0.404127,0,0,0,0,0,1.95304e-06,0.00251574,0.0025157,0.00501391,0.256461,0.256461,0.562563,0.126414,0.126414,1.00079,1e-06,1e-06,1e-06,4e-06,4e-06,4.00001e-06,0,0,0,0,0,0,0,0
285000,0.999745,-0.010498,-0.0111248,-0.0166139,0.00135604,0.000386777,-0.0252008,7.07068e-05,-1.58746e-05,-0.00161356,2.51669e-14,2.38317e-14,-5.59251e-17,0,0,-1.75435e-09,0.191514,0.00185997,0.404127,0,0,0,0,0,2.00622e-06,0.0025808,0.00258074,0.00507893,0.282565,0.282564,0.562506,0.132891,0.132891,0.576885,1e-06,1e-06,1e-06,4e-06,4e-06,4.00001e-06,0,0,0,0,0,0,0,0
385000,0.999742,-0.0105086,-0.0114167,-0.0165992,0.00279367,0.000841279,-0.0397786,0.000234117,6.61504e-05,-0.00379265,3.97567e-11,-5.70702e-10,-1.26583e-11,0,0,-1.90055e-08,0.191514,0.00185997,0.404127,0,0,0,0,0,2.07976e-06,0.00269232,0.00269222,0.00519394,0.320083,0.320083,0.560114,0.0942307,0.0942307,0.375592,9.99994e-07,9.99994e-07,1e-06,4e-06,4e-06,3.99998e-06,0,0,0,0,0,0,0,0
485000,0.999736,-0.0105821,-0.0117682,-0.0166396,0.00565568,1.37733e-05,-0.0548207,0.00067319,9.33786e-05,-0.00682881,3.12871e-11,-5.37575e-10,-1.17921e-11,0,0,-9.60387e-08,0.191514,0.00185997,0.404127,0,0,0,0,0,2.19976e-06,0.00285733,0.00285719,0.00535892,0.388412,0.388412,0.553871,0.109483,0.109483,0.287379,9.99994e-07,9.99994e-07,1e-06,4e-06,4e-06,3.99978e-06,0,0,0,0,0,0,0,0
585000,0.999733,-0.0105813,-0.0120572,-0.0166371,0.00777812,0.000772913,-0.0669065,0.00103104,9.86188e-05,-0.0105822,4.48799e-09,-3.17219e-08,-7.49171e-10,0,0,-3.1415e-07,0.191514,0.00185997,0.404127,0,0,0,0,0,2.32138e-06,0.00302178,0.0030216,0.00557389,0.437997,0.437998,0.542812,0.0905593,0.0905593,0.242024,9.99626e-07,9.99626e-07,1e-06,4e-06,4e-06,3.99919e-06,0,0,0,0,0,0,0,0
685000,0.999729,-0.0107148,-0.0123314,-0.0165748,0.0105358,-6.92627e-05,-0.079897,0.00191778,0.000106049,-0.0148862,4.46063e-09,-3.12371e-08,-7.38593e-10,0,0,-8.02325e-07,0.191514,0.00185997,0.404127,0,0,0,0,0,2.48169e-06,0.00328539,0.00328518,0.00583886,0.550739,0.55074,0.525906,0.117326,0.117326,0.217499,9.99626e-07,9.99626e-07,1e-06,4e-06,4e-06,3.99786e-06,0,0,0,0,0,0,0,0
785000,0.999725,-0.0108223,-0.0126169,-0.0165619,0.011657,0.000229059,-0.0924465,0.00210485,5.69564e-05,-0.0206973,2.09481e-08,-2.70114e-07,-6.00229e-09,0,0,-1.43884e-06,0.191514,0.00185997,0.404127,0,0,0,0,0,2.6284e-06,0.00338379,0.00338354,0.00615375,0.570988,0.57099,0.510947,0.101431,0.101431,0.215594,9.96274e-07,9.96274e-07,9.99998e-07,4e-06,4e-06,3.99614e-06,0,0,0,0,0,0,0,0
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
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src/lib/ecl/test/change_indication/iris_gps.csv
-351
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@@ -1,351 +0,0 @@
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 15000 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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330 32785000 0.983375 -0.0111893 -0.0118556 0.180851 0.0392107 -0.10575 -0.112326 0.0381662 -0.00810884 0.0162689 -1.11997e-05 -5.67363e-05 4.82837e-06 4.17645e-05 -0.000317554 -0.00107765 0.204279 0.00198394 0.434362 0 0 0 0 0 3.62467e-06 1.67858e-05 1.67779e-05 8.8236e-05 0.0170504 0.0170503 0.00896611 0.037847 0.0378483 0.0591409 5.11984e-11 5.12086e-11 4.96853e-10 2.62826e-07 2.62702e-07 5e-08 0 0 0 0 0 0 0 0
331 32885000 0.983395 -0.0111645 -0.0119172 0.180742 0.0396953 -0.113634 -0.113647 0.0421634 -0.0190981 0.00260113 -1.11987e-05 -5.67371e-05 4.87525e-06 4.17645e-05 -0.000317554 -0.00107765 0.204279 0.00198394 0.434362 0 0 0 0 0 3.61863e-06 1.7042e-05 1.70337e-05 8.81268e-05 0.0188427 0.018843 0.00878586 0.041805 0.0418066 0.0591471 5.12973e-11 5.13071e-11 4.93931e-10 2.62829e-07 2.62705e-07 5.0003e-08 0 0 0 0 0 0 0 0
332 32985000 0.983406 -0.0110099 -0.0118841 0.180691 0.036885 -0.109295 -0.112651 0.0493599 -0.0196096 -0.0100572 -1.14439e-05 -5.66675e-05 5.00651e-06 4.17567e-05 -0.000318021 -0.00107769 0.204279 0.00198394 0.434362 0 0 0 0 0 3.61598e-06 1.62062e-05 1.61974e-05 8.80189e-05 0.0179236 0.0179243 0.00848981 0.0381265 0.0381278 0.0585942 4.96162e-11 4.96225e-11 4.90985e-10 2.62835e-07 2.62711e-07 5.00129e-08 0 0 0 0 0 0 0 0
333 33085000 0.98341 -0.0109785 -0.0119006 0.180675 0.0338246 -0.114517 -0.110424 0.0529277 -0.0307611 -0.0185871 -1.14441e-05 -5.66675e-05 4.99805e-06 4.17562e-05 -0.000318021 -0.00107769 0.204279 0.00198394 0.434362 0 0 0 0 0 3.61207e-06 1.64534e-05 1.64443e-05 8.792e-05 0.019866 0.0198673 0.00834368 0.0421865 0.0421883 0.0585412 4.9715e-11 4.97211e-11 4.88023e-10 2.62845e-07 2.62721e-07 5.00229e-08 0 0 0 0 0 0 0 0
334 33185000 0.983418 -0.0107862 -0.0118245 0.180644 0.0298069 -0.110592 -0.10885 0.0584394 -0.03017 -0.0247485 -1.16923e-05 -5.65957e-05 4.96135e-06 4.15614e-05 -0.000320533 -0.00107794 0.204279 0.00198394 0.434362 0 0 0 0 0 3.60662e-06 1.5541e-05 1.55316e-05 8.78266e-05 0.0188842 0.0188856 0.0080967 0.0384297 0.0384311 0.0579684 4.79927e-11 4.79954e-11 4.85038e-10 2.62711e-07 2.62588e-07 5.00304e-08 0 0 0 0 0 0 0 0
335 33285000 0.983441 -0.0108595 -0.011834 0.180515 0.0274337 -0.114111 -0.108677 0.0612421 -0.0414122 -0.0332604 -1.16895e-05 -5.65989e-05 5.10616e-06 4.15594e-05 -0.000320531 -0.00107795 0.204279 0.00198394 0.434362 0 0 0 0 0 3.6028e-06 1.57786e-05 1.5769e-05 8.77381e-05 0.0209649 0.0209671 0.00798636 0.0425973 0.0425991 0.0578683 4.80916e-11 4.8094e-11 4.82039e-10 2.62721e-07 2.62598e-07 5.00403e-08 0 0 0 0 0 0 0 0
336 33385000 0.983455 -0.0106313 -0.0118913 0.180448 0.0227873 -0.103197 -0.106345 0.0637463 -0.0345886 -0.0417188 -1.20259e-05 -5.65074e-05 5.16472e-06 4.15594e-05 -0.000320531 -0.00107824 0.204279 0.00198394 0.434362 0 0 0 0 0 3.59856e-06 1.48125e-05 1.48024e-05 8.76534e-05 0.0196594 0.0196617 0.00778378 0.0387517 0.0387532 0.0572856 4.63667e-11 4.6366e-11 4.79019e-10 2.62721e-07 2.62598e-07 5.00418e-08 0 0 0 0 0 0 0 0
337 33485000 0.983459 -0.0106185 -0.0118457 0.18043 0.0187276 -0.107062 -0.106271 0.0657791 -0.0450709 -0.0524613 -1.20257e-05 -5.65076e-05 5.17633e-06 4.15594e-05 -0.000320531 -0.00107824 0.204279 0.00198394 0.434362 0 0 0 0 0 3.60767e-06 1.504e-05 1.50297e-05 8.79273e-05 0.0215695 0.0215725 0.00777044 0.0430227 0.0430247 0.0579788 4.64658e-11 4.6465e-11 4.76769e-10 2.62721e-07 2.62598e-07 5.00515e-08 0 0 0 0 0 0 0 0
338 33585000 0.983487 -0.0103512 -0.0118151 0.180296 0.0148061 -0.100036 -0.102538 0.0675522 -0.0392893 -0.0583093 -1.23025e-05 -5.64273e-05 5.30767e-06 4.15594e-05 -0.000320531 -0.00107888 0.204279 0.00198394 0.434362 0 0 0 0 0 3.60307e-06 1.40426e-05 1.40319e-05 8.78512e-05 0.0200903 0.0200932 0.00760535 0.0390796 0.0390811 0.0573781 4.47724e-11 4.47686e-11 4.7372e-10 2.62721e-07 2.62598e-07 5.00437e-08 0 0 0 0 0 0 0 0
339 33685000 0.983496 -0.0103467 -0.0118041 0.180246 0.0108664 -0.10398 -0.104144 0.0688756 -0.0495311 -0.0667976 -1.23017e-05 -5.64282e-05 5.34918e-06 4.15594e-05 -0.000320531 -0.00107891 0.204279 0.00198394 0.434362 0 0 0 0 0 3.59997e-06 1.42599e-05 1.42489e-05 8.77788e-05 0.0220002 0.0220038 0.00755978 0.0434405 0.0434426 0.057215 4.48712e-11 4.48673e-11 4.7066e-10 2.62721e-07 2.62598e-07 5.00524e-08 0 0 0 0 0 0 0 0
340 33785000 0.983509 -0.0101496 -0.0118012 0.180189 0.00641581 -0.0963475 -0.0983857 0.0717219 -0.0427707 -0.0728109 -1.25666e-05 -5.63194e-05 5.32166e-06 4.15594e-05 -0.000320531 -0.00107964 0.204279 0.00198394 0.434362 0 0 0 0 0 3.59464e-06 1.32529e-05 1.32417e-05 8.77109e-05 0.0203776 0.0203808 0.00743089 0.0393971 0.0393987 0.0566217 4.32373e-11 4.32309e-11 4.67583e-10 2.62721e-07 2.62598e-07 5.00318e-08 0 0 0 0 0 0 0 0
341 33885000 0.983525 -0.0101898 -0.0117586 0.180104 0.00292411 -0.0973977 -0.0979857 0.0721371 -0.0525046 -0.0800861 -1.25644e-05 -5.63217e-05 5.43048e-06 4.15594e-05 -0.000320531 -0.00107972 0.204279 0.00198394 0.434362 0 0 0 0 0 3.59206e-06 1.346e-05 1.34487e-05 8.76441e-05 0.0222622 0.0222663 0.00741446 0.0438329 0.043835 0.0564415 4.33361e-11 4.33296e-11 4.64494e-10 2.62721e-07 2.62598e-07 5.00388e-08 0 0 0 0 0 0 0 0
342 33985000 0.983518 -0.00993798 -0.011894 0.180145 0.000498625 -0.0868494 -0.0943615 0.073799 -0.0431352 -0.0833155 -1.2846e-05 -5.61888e-05 5.37944e-06 4.15594e-05 -0.000320531 -0.00108066 0.204279 0.00198394 0.434362 0 0 0 0 0 3.58959e-06 1.24636e-05 1.24517e-05 8.75794e-05 0.0205251 0.0205287 0.00731757 0.0396918 0.0396935 0.0558629 4.17843e-11 4.17755e-11 4.61393e-10 2.62721e-07 2.62598e-07 5.0005e-08 0 0 0 0 0 0 0 0
343 34085000 0.983523 -0.00987527 -0.0118975 0.180118 -0.00306447 -0.0913964 -0.0934497 0.0737167 -0.0520798 -0.0900178 -1.28459e-05 -5.6189e-05 5.38106e-06 4.15594e-05 -0.000320531 -0.00108077 0.204279 0.00198394 0.434362 0 0 0 0 0 3.59875e-06 1.2661e-05 1.26488e-05 8.78724e-05 0.0223731 0.0223773 0.00738417 0.0441863 0.0441886 0.0564705 4.18833e-11 4.18746e-11 4.59086e-10 2.62721e-07 2.62598e-07 5.00108e-08 0 0 0 0 0 0 0 0
344 34185000 0.983525 -0.00970373 -0.0119365 0.180119 -0.00668622 -0.0814299 -0.091119 0.0757973 -0.0435222 -0.0918185 -1.30842e-05 -5.60687e-05 5.42709e-06 4.15594e-05 -0.000320531 -0.00108154 0.204279 0.00198394 0.434362 0 0 0 0 0 3.59728e-06 1.16907e-05 1.16783e-05 8.78114e-05 0.0205416 0.0205454 0.00731336 0.0399541 0.0399559 0.0558966 4.04285e-11 4.04178e-11 4.55965e-10 2.62721e-07 2.62598e-07 5.00037e-08 0 0 0 0 0 0 0 0
345 34285000 0.983528 -0.00959658 -0.0119969 0.1801 -0.00680031 -0.0849691 -0.0900857 0.0751546 -0.0518838 -0.0990843 -1.3083e-05 -5.60698e-05 5.48315e-06 4.15594e-05 -0.000320531 -0.00108164 0.204279 0.00198394 0.434362 0 0 0 0 0 3.59594e-06 1.18788e-05 1.18659e-05 8.7753e-05 0.022342 0.0223463 0.00734865 0.0444904 0.0444927 0.0557153 4.05271e-11 4.05166e-11 4.52836e-10 2.62721e-07 2.62598e-07 5.0004e-08 0 0 0 0 0 0 0 0
346 34385000 0.983552 -0.00938221 -0.0120066 0.179981 -0.00964968 -0.0740477 -0.0850889 0.0754486 -0.0430849 -0.102274 -1.33065e-05 -5.59668e-05 5.49651e-06 4.15594e-05 -0.000320531 -0.00108311 0.204279 0.00198394 0.434362 0 0 0 0 0 3.58998e-06 1.09476e-05 1.09344e-05 8.77008e-05 0.0204348 0.0204386 0.00730222 0.0401771 0.0401789 0.0551677 3.91783e-11 3.91661e-11 4.49697e-10 2.62721e-07 2.62598e-07 5.0001e-08 0 0 0 0 0 0 0 0
347 34485000 0.983556 -0.00946709 -0.0119364 0.17996 -0.0126689 -0.077798 -0.0836043 0.0743368 -0.0507469 -0.105781 -1.33051e-05 -5.59681e-05 5.55591e-06 4.15594e-05 -0.000320531 -0.00108347 0.204279 0.00198394 0.434362 0 0 0 0 0 3.58878e-06 1.11266e-05 1.11136e-05 8.76459e-05 0.0221805 0.0221847 0.00735996 0.0447379 0.0447403 0.0550007 3.92769e-11 3.92649e-11 4.46552e-10 2.62721e-07 2.62598e-07 5e-08 0 0 0 0 0 0 0 0
348 34585000 0.983562 -0.00926919 -0.0117599 0.179949 -0.0128818 -0.0663435 0.662289 0.0747899 -0.0430201 -0.0806858 -1.34861e-05 -5.58695e-05 5.54379e-06 4.15594e-05 -0.000320531 -0.00108484 0.204279 0.00198394 0.434362 0 0 0 0 0 3.58591e-06 1.02432e-05 1.02304e-05 8.75942e-05 0.0191072 0.0191105 0.00733423 0.0403258 0.0403276 0.0544833 3.8038e-11 3.80247e-11 4.434e-10 2.62721e-07 2.62598e-07 5e-08 0 0 0 0 0 0 0 0
349 34685000 0.983568 -0.00925611 -0.0114729 0.179933 -0.0146815 -0.063338 1.65295 0.0734175 -0.0495005 0.0321606 -1.34866e-05 -5.5869e-05 5.52527e-06 4.15594e-05 -0.000320531 -0.00108457 0.204279 0.00198394 0.434362 0 0 0 0 0 3.58321e-06 1.04137e-05 1.04015e-05 8.7544e-05 0.0192163 0.0192196 0.00741185 0.0447213 0.0447236 0.0543372 3.81366e-11 3.81235e-11 4.40242e-10 2.62721e-07 2.62598e-07 5e-08 0 0 0 0 0 0 0 0
350 34785000 0.983576 -0.00909799 -0.0112412 0.179916 -0.0148925 -0.0519221 2.6195 0.0740976 -0.0418724 0.194292 -1.36331e-05 -5.57803e-05 5.51322e-06 4.15594e-05 -0.000320531 -0.00105859 0.204279 0.00198394 0.434362 0 0 0 0 0 3.59227e-06 9.68481e-06 9.67298e-06 8.7848e-05 0.0163819 0.0163845 0.00745318 0.0402591 0.0402609 0.0545875 3.71288e-11 3.71149e-11 4.37894e-10 2.62721e-07 2.62598e-07 5.0002e-08 0 0 0 0 0 0 0 0
351 34885000 0.983581 -0.00908347 -0.0109551 0.179903 -0.0166451 -0.048899 3.60507 0.0725539 -0.0468836 0.484156 -1.36343e-05 -5.57793e-05 5.48955e-06 4.15594e-05 -0.000320531 -0.00105635 0.204279 0.00198394 0.434362 0 0 0 0 0 3.58962e-06 9.84911e-06 9.83783e-06 8.77992e-05 0.0164934 0.016496 0.0075485 0.0443771 0.0443793 0.0544643 3.72274e-11 3.72137e-11 4.34728e-10 2.62721e-07 2.62598e-07 5.0001e-08 0 0 0 0 0 0 0 0
src/lib/ecl/test/gtest.cmake
-43
View File
@@ -1,43 +0,0 @@
############################################################################
#
# Copyright (c) 2019 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.
#
############################################################################
# Download and unpack googletest at configure time
configure_file(${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt.in googletest-download/CMakeLists.txt)
execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . RESULT_VARIABLE result1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
execute_process(COMMAND ${CMAKE_COMMAND} --build . RESULT_VARIABLE result2 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
if(result1 OR result2)
message(FATAL_ERROR "Preparing googletest failed: ${result1} ${result2}")
endif()
# Add googletest, defines gtest and gtest_main targets
add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src ${CMAKE_CURRENT_BINARY_DIR}/googletest-build EXCLUDE_FROM_ALL)
src/lib/ecl/test/main.cpp
-7
View File
@@ -1,7 +0,0 @@
#include <gtest/gtest.h>
int main(int argc, char **argv) {
testing::InitGoogleTest(&argc, argv);
std::cout << "Run ECL gtests" << std::endl;
return RUN_ALL_TESTS();
}
src/lib/ecl/tools/format.sh
-38
View File
@@ -1,38 +0,0 @@
#!/bin/bash
do_format=$1
files_to_format="""
EKF/AlphaFilter.hpp
EKF/RingBuffer.h
EKF/vel_pos_fusion.cpp
EKF/imu_down_sampler.*pp
mathlib/*.cpp
mathlib/*.h
"""
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
NC='\033[0m' # No Color
if ! hash clang-format-6.0
then
echo -e ${RED}Error: No clang-format-6.0 installed${NC}
exit 1
fi
if [[ $do_format -eq 1 ]]
then
# formatting
clang-format-6.0 -i -style=file ${files_to_format}
echo -e ${GREEN}Formatting finished${NC}
else
# checking format...
clang-format-6.0 -style=file -output-replacements-xml ${files_to_format} | grep -c "<replacement " > /dev/null
if [[ $? -eq 0 ]]
then
echo -e ${RED}Error: need to format${NC}
echo -e ${YELLOW}From cmake build directory run: 'make format'${NC}
exit 1
fi
echo -e ${GREEN}no formatting needed${NC}
exit 0
fi
src/lib/geo/CMakeLists.txt
+1 -3
View File
@@ -39,6 +39,4 @@ add_dependencies(geo prebuild_targets)
target_compile_options(geo PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_link_libraries(geo PRIVATE m)
if(CMAKE_PROJECT_NAME MATCHES "px4") # temporary
px4_add_unit_gtest(SRC test_geo.cpp LINKLIBS geo)
endif()
px4_add_unit_gtest(SRC test_geo.cpp LINKLIBS geo)
src/lib/world_magnetic_model/CMakeLists.txt
+2 -4
View File
@@ -39,7 +39,5 @@ add_library(world_magnetic_model
add_dependencies(world_magnetic_model prebuild_targets)
target_compile_options(world_magnetic_model PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
if(CMAKE_PROJECT_NAME MATCHES "px4") # temporary
add_compile_options(-Wno-double-promotion)
px4_add_unit_gtest(SRC test_geo_lookup.cpp LINKLIBS world_magnetic_model)
endif()
add_compile_options(-Wno-double-promotion)
px4_add_unit_gtest(SRC test_geo_lookup.cpp LINKLIBS world_magnetic_model)
src/modules/ekf2/CMakeLists.txt
+33 -1
View File
@@ -38,15 +38,47 @@ px4_add_module(
MAIN ekf2
COMPILE_FLAGS
${MAX_CUSTOM_OPT_LEVEL}
-fno-associative-math
INCLUDES
EKF
STACK_MAX
3500
SRCS
EKF/airspeed_fusion.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/gps_checks.cpp
EKF/gps_yaw_fusion.cpp
EKF/imu_down_sampler.cpp
EKF/mag_control.cpp
EKF/mag_fusion.cpp
EKF/optflow_fusion.cpp
EKF/sensor_range_finder.cpp
EKF/sideslip_fusion.cpp
EKF/terrain_estimator.cpp
EKF/utils.cpp
EKF/vel_pos_fusion.cpp
EKF2.cpp
EKF2.hpp
EKF2Selector.cpp
EKF2Selector.hpp
DEPENDS
ecl_EKF
geo
perf
EKF2Utility
px4_work_queue
world_magnetic_model
UNITY_BUILD
)
if(BUILD_TESTING)
add_subdirectory(EKF)
add_subdirectory(test)
endif()
src/lib/ecl/EKF/CMakeLists.txt → src/modules/ekf2/EKF/CMakeLists.txt
+7 -12
View File
@@ -34,30 +34,25 @@
add_library(ecl_EKF
airspeed_fusion.cpp
control.cpp
mag_control.cpp
covariance.cpp
drag_fusion.cpp
ekf.cpp
ekf_helper.cpp
EKFGSF_yaw.cpp
estimator_interface.cpp
gps_checks.cpp
mag_fusion.cpp
optflow_fusion.cpp
sideslip_fusion.cpp
terrain_estimator.cpp
vel_pos_fusion.cpp
gps_yaw_fusion.cpp
imu_down_sampler.cpp
EKFGSF_yaw.cpp
mag_control.cpp
mag_fusion.cpp
optflow_fusion.cpp
sensor_range_finder.cpp
sideslip_fusion.cpp
terrain_estimator.cpp
utils.cpp
vel_pos_fusion.cpp
)
add_dependencies(ecl_EKF prebuild_targets)
target_compile_definitions(ecl_EKF PRIVATE -DMODULE_NAME="ecl/EKF")
target_include_directories(ecl_EKF PUBLIC ${ECL_SOURCE_DIR})
target_link_libraries(ecl_EKF PRIVATE geo world_magnetic_model)
set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h")
target_compile_options(ecl_EKF PRIVATE -fno-associative-math)
src/lib/ecl/EKF/EKFGSF_yaw.cpp → src/modules/ekf2/EKF/EKFGSF_yaw.cpp
View File
src/lib/ecl/EKF/EKFGSF_yaw.h → src/modules/ekf2/EKF/EKFGSF_yaw.h
+3 -1
View File
@@ -1,4 +1,5 @@
#pragma once
#ifndef EKF_EKFGSF_YAW_H
#define EKF_EKFGSF_YAW_H
#include <lib/geo/geo.h>
#include <matrix/math.hpp>
@@ -133,3 +134,4 @@ private:
// return the probability of the state estimate for the specified EKF assuming a gaussian error distribution
float gaussianDensity(const uint8_t model_index) const;
};
#endif // !EKF_EKFGSF_YAW_H
src/lib/ecl/EKF/RingBuffer.h → src/modules/ekf2/EKF/RingBuffer.h
+1 -1
View File
@@ -70,7 +70,7 @@ public:
delete[] _buffer;
}
_buffer = new data_type[size]{};
_buffer = new data_type[size] {};
if (_buffer == nullptr) {
return false;
src/lib/ecl/EKF/Sensor.hpp → src/modules/ekf2/EKF/Sensor.hpp
+4 -2
View File
@@ -39,7 +39,8 @@
*
*/
#pragma once
#ifndef EKF_SENSOR_HPP
#define EKF_SENSOR_HPP
#include "common.h"
@@ -58,7 +59,7 @@ public:
* this has to be called immediately after
* setting new data
*/
virtual void runChecks(){};
virtual void runChecks() {};
/*
* return true if the sensor is healthy
@@ -80,3 +81,4 @@ public:
} // namespace sensor
} // namespace estimator
#endif // !EKF_SENSOR_HPP
src/lib/ecl/EKF/airspeed_fusion.cpp → src/modules/ekf2/EKF/airspeed_fusion.cpp
+1 -1
View File
@@ -41,7 +41,7 @@
* @author Paul Riseborough <p_riseborough@live.com.au>
*
*/
#include "../ecl.h"
#include "ekf.h"
#include <mathlib/mathlib.h>
src/lib/ecl/EKF/common.h → src/modules/ekf2/EKF/common.h
+3 -1
View File
@@ -39,7 +39,8 @@
* @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
*
*/
#pragma once
#ifndef EKF_COMMON_H
#define EKF_COMMON_H
#include <matrix/math.hpp>
@@ -552,3 +553,4 @@ union warning_event_status_u {
};
}
#endif // !EKF_COMMON_H
src/lib/ecl/EKF/control.cpp → src/modules/ekf2/EKF/control.cpp
+3 -3
View File
@@ -39,7 +39,7 @@
*
*/
#include "../ecl.h"
#include "ekf.h"
#include <mathlib/mathlib.h>
@@ -100,7 +100,7 @@ void Ekf::controlFusionModes()
// if enabled, use knowledge of theoretical magnetic field vector to calculate a synthetic magnetomter Z component value.
// this is useful if there is a lot of interference on the sensor measurement.
if (_params.synthesize_mag_z && (_params.mag_declination_source & MASK_USE_GEO_DECL) && (_NED_origin_initialised || ISFINITE(_mag_declination_gps))) {
if (_params.synthesize_mag_z && (_params.mag_declination_source & MASK_USE_GEO_DECL) && (_NED_origin_initialised || PX4_ISFINITE(_mag_declination_gps))) {
const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0);
_mag_sample_delayed.mag(2) = calculate_synthetic_mag_z_measurement(_mag_sample_delayed.mag, mag_earth_pred);
_control_status.flags.synthetic_mag_z = true;
@@ -738,7 +738,7 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
return;
}
const bool is_new_data_available = ISFINITE(_gps_sample_delayed.yaw);
const bool is_new_data_available = PX4_ISFINITE(_gps_sample_delayed.yaw);
if (is_new_data_available) {
src/lib/ecl/EKF/covariance.cpp → src/modules/ekf2/EKF/covariance.cpp
-1
View File
@@ -44,7 +44,6 @@
#include "ekf.h"
#include "utils.hpp"
#include <ecl.h>
#include <math.h>
#include <mathlib/mathlib.h>
src/lib/ecl/EKF/documentation/Output Predictor.pdf → src/modules/ekf2/EKF/documentation/Output Predictor.pdf
View File
src/lib/ecl/EKF/documentation/Process and Observation Models.pdf → src/modules/ekf2/EKF/documentation/Process and Observation Models.pdf
View File
src/lib/ecl/EKF/documentation/Reference List.pdf → src/modules/ekf2/EKF/documentation/Reference List.pdf
View File
src/lib/ecl/EKF/documentation/readme.txt → src/modules/ekf2/EKF/documentation/readme.txt
View File
src/lib/ecl/EKF/drag_fusion.cpp → src/modules/ekf2/EKF/drag_fusion.cpp
+1 -1
View File
@@ -41,7 +41,7 @@
*/
#include "ekf.h"
#include <ecl.h>
#include <mathlib/mathlib.h>
void Ekf::fuseDrag()
src/lib/ecl/EKF/ekf.cpp → src/modules/ekf2/EKF/ekf.cpp
-1
View File
@@ -41,7 +41,6 @@
#include "ekf.h"
#include <ecl.h>
#include <mathlib/mathlib.h>
bool Ekf::init(uint64_t timestamp)
src/lib/ecl/EKF/ekf.h → src/modules/ekf2/EKF/ekf.h
+3 -1
View File
@@ -40,7 +40,8 @@
*
*/
#pragma once
#ifndef EKF_EKF_H
#define EKF_EKF_H
#include "estimator_interface.h"
@@ -993,3 +994,4 @@ private:
void resetGpsDriftCheckFilters();
};
#endif // !EKF_EKF_H
src/lib/ecl/EKF/ekf_helper.cpp → src/modules/ekf2/EKF/ekf_helper.cpp
+2 -4
View File
@@ -41,11 +41,9 @@
#include "ekf.h"
#include <ecl.h>
#include <mathlib/mathlib.h>
#include <cstdlib>
void Ekf::resetVelocity()
{
if (_control_status.flags.gps && isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) {
@@ -547,7 +545,7 @@ float Ekf::getMagDeclination()
} else if (_params.mag_declination_source & MASK_USE_GEO_DECL) {
// use parameter value until GPS is available, then use value returned by geo library
if (_NED_origin_initialised || ISFINITE(_mag_declination_gps)) {
if (_NED_origin_initialised || PX4_ISFINITE(_mag_declination_gps)) {
return _mag_declination_gps;
} else {
@@ -1691,7 +1689,7 @@ void Ekf::runYawEKFGSF()
// basic sanity check on GPS velocity data
if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON &&
ISFINITE(_gps_sample_delayed.vel(0)) && ISFINITE(_gps_sample_delayed.vel(1))) {
PX4_ISFINITE(_gps_sample_delayed.vel(0)) && PX4_ISFINITE(_gps_sample_delayed.vel(1))) {
_yawEstimator.setVelocity(_gps_sample_delayed.vel.xy(), _gps_sample_delayed.vacc);
}
}
src/lib/ecl/EKF/estimator_interface.cpp → src/modules/ekf2/EKF/estimator_interface.cpp
+1 -2
View File
@@ -42,7 +42,6 @@
#include "estimator_interface.h"
#include <ecl.h>
#include <mathlib/mathlib.h>
// Accumulate imu data and store to buffer at desired rate
@@ -206,7 +205,7 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
gps_sample_new.yaw = gps.yaw;
if (ISFINITE(gps.yaw_offset)) {
if (PX4_ISFINITE(gps.yaw_offset)) {
_gps_yaw_offset = gps.yaw_offset;
} else {
src/lib/ecl/EKF/estimator_interface.h → src/modules/ekf2/EKF/estimator_interface.h
+15 -3
View File
@@ -39,9 +39,20 @@
*
*/
#pragma once
#ifndef EKF_ESTIMATOR_INTERFACE_H
#define EKF_ESTIMATOR_INTERFACE_H
#if defined(MODULE_NAME)
# define ECL_INFO PX4_DEBUG
# define ECL_WARN PX4_DEBUG
# define ECL_ERR PX4_DEBUG
#else
# define ECL_INFO(X, ...) printf(X "\n", ##__VA_ARGS__)
# define ECL_WARN(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__)
# define ECL_ERR(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__)
#endif
#include <ecl.h>
#include "common.h"
#include "RingBuffer.h"
#include "imu_down_sampler.hpp"
@@ -106,7 +117,7 @@ public:
}
// return true if the attitude is usable
bool attitude_valid() const { return ISFINITE(_output_new.quat_nominal(0)) && _control_status.flags.tilt_align; }
bool attitude_valid() const { return PX4_ISFINITE(_output_new.quat_nominal(0)) && _control_status.flags.tilt_align; }
// get vehicle landed status data
bool get_in_air_status() const { return _control_status.flags.in_air; }
@@ -441,3 +452,4 @@ private:
bool _auxvel_buffer_fail{false};
};
#endif // !EKF_ESTIMATOR_INTERFACE_H
src/lib/ecl/EKF/gps_checks.cpp → src/modules/ekf2/EKF/gps_checks.cpp
+3 -4
View File
@@ -41,7 +41,6 @@
#include "ekf.h"
#include <ecl.h>
#include <lib/world_magnetic_model/geo_mag_declination.h>
#include <mathlib/mathlib.h>
@@ -84,7 +83,7 @@ bool Ekf::collect_gps(const gps_message &gps)
_earth_rate_NED = calcEarthRateNED((float)_pos_ref.lat_rad);
_last_gps_origin_time_us = _time_last_imu;
const bool declination_was_valid = ISFINITE(_mag_declination_gps);
const bool declination_was_valid = PX4_ISFINITE(_mag_declination_gps);
// set the magnetic field data returned by the geo library using the current GPS position
_mag_declination_gps = get_mag_declination_radians(lat, lon);
@@ -119,7 +118,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// a rough 2D fix is still sufficient to lookup declination
if ((gps.fix_type >= 2) && (gps.eph < 1000)) {
const bool declination_was_valid = ISFINITE(_mag_declination_gps);
const bool declination_was_valid = PX4_ISFINITE(_mag_declination_gps);
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
const double lat = gps.lat * 1.0e-7;
@@ -132,7 +131,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// request mag yaw reset if there's a mag declination for the first time
if (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE) {
if (!declination_was_valid && ISFINITE(_mag_declination_gps)) {
if (!declination_was_valid && PX4_ISFINITE(_mag_declination_gps)) {
_mag_yaw_reset_req = true;
}
}
src/lib/ecl/EKF/gps_yaw_fusion.cpp → src/modules/ekf2/EKF/gps_yaw_fusion.cpp
-1
View File
@@ -42,7 +42,6 @@
#include "ekf.h"
#include <ecl.h>
#include <mathlib/mathlib.h>
#include <cstdlib>
src/lib/ecl/EKF/imu_down_sampler.cpp → src/modules/ekf2/EKF/imu_down_sampler.cpp
+1 -1
View File
@@ -39,7 +39,7 @@ bool ImuDownSampler::update(const imuSample &imu_sample_new)
// average EKF update rate requirement
_imu_collection_time_adj += 0.01f * (_imu_down_sampled.delta_ang_dt - _target_dt);
_imu_collection_time_adj = math::constrain(_imu_collection_time_adj, -0.5f * _target_dt,
0.5f * _target_dt);
0.5f * _target_dt);
_imu_down_sampled.delta_ang = AxisAnglef(_delta_angle_accumulated);
src/lib/ecl/EKF/imu_down_sampler.hpp → src/modules/ekf2/EKF/imu_down_sampler.hpp
+3 -1
View File
@@ -35,7 +35,8 @@
* Downsamples IMU data to a lower rate such that EKF predicition can happen less frequent
* @author Kamil Ritz <ka.ritz@hotmail.com>
*/
#pragma once
#ifndef EKF_IMU_DOWN_SAMPLER_HPP
#define EKF_IMU_DOWN_SAMPLER_HPP
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
@@ -67,3 +68,4 @@ private:
float _imu_collection_time_adj{0.f};
bool _do_reset{true};
};
#endif // !EKF_IMU_DOWN_SAMPLER_HPP

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