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now building libeknav and paparazzi together

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This commit is contained in:
Antoine Drouin
2010-09-16 08:19:27 +00:00
parent d9936c8243
commit d614f3de9f
12 changed files with 387 additions and 21 deletions
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conf/airframes/Poine/test_libeknav.xml
+35 -2
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@@ -5,11 +5,44 @@
HOST=auto3
# test 1
LIB_EIGEN_DIR = /opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2
LIB_EIGEN_CFLAGS = -I$(LIB_EIGEN_DIR) -DEIGEN_DONT_VECTORIZE -DEIGEN_DONT_ALIGN -DNDEBUG
LIBEKNAV_SRCS = fms/libeknav/basic_ins_qkf.cpp \
fms/libeknav/ins_qkf_predict.cpp \
fms/libeknav/ins_qkf_observe_vector.cpp \
fms/libeknav/ins_qkf_observe_gps_pvt.cpp \
fms/libeknav/ins_qkf_observe_gps_p.cpp
# LIBEKNAV_CFLAGS = -DTIME_OPS
LIBEKNAV_CFLAGS =
# test 1: how do I build cpp for using libeigen ?
test1.ARCHDIR = omap
test1.CXXFLAGS += -I /opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2
test1.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
test1.cpp_srcs = fms/libeknav/hello_world.cpp
# test 2: now build with libeknav
test2.ARCHDIR = omap
test2.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
test2.cpp_srcs = fms/libeknav/test_libeknav_2.cpp
test2.CXXFLAGS += $(LIBEKNAV_CFLAGS)
test2.cpp_srcs += $(LIBEKNAV_SRCS)
# test 3: now try to add Paparazzi's C
test3.ARCHDIR = omap
test3.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
test3.CXXFLAGS += -I$(PAPARAZZI_HOME)/var/$(AIRCRAFT)
test3.CXXFLAGS += -I$(PAPARAZZI_SRC)/sw/airborne
test3.CXXFLAGS += -I$(PAPARAZZI_SRC)/sw/include
test3.cpp_srcs = fms/libeknav/test_libeknav_3.cpp
test3.CXXFLAGS += $(LIBEKNAV_CFLAGS)
test3.cpp_srcs += $(LIBEKNAV_SRCS)
test3.LDFLAGS += -levent -lm
test3.CFLAGS += -DFMS_PERIODIC_FREQ=512
test3.srcs += fms/fms_periodic.c
test3.CXXFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
test3.srcs += fms/fms_spi_link.c
# test network based telemetry on overo (using udp_transport2/messages2)
overo_test_telemetry2.ARCHDIR = omap
overo_test_telemetry2.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include