From 883624d9153d33d790bd955b38097c4d44d35072 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 14 Jul 2021 17:23:39 -0400 Subject: [PATCH] lib/geo: move from ecl --- src/drivers/batt_smbus/batt_smbus.h | 2 +- src/drivers/imu/adis16477/ADIS16477.hpp | 2 +- src/drivers/imu/adis16497/ADIS16497.hpp | 2 +- .../analog_devices/adis16448/ADIS16448.hpp | 2 +- .../analog_devices/adis16470/ADIS16470.hpp | 2 +- .../imu/bosch/bmi055/BMI055_Accelerometer.cpp | 2 +- .../imu/bosch/bmi088/BMI088_Accelerometer.cpp | 2 +- .../bmi088_i2c/BMI088_Accelerometer.cpp | 2 +- src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp | 2 +- .../imu/invensense/icm20602/ICM20602.hpp | 2 +- .../imu/invensense/icm20608g/ICM20608G.hpp | 2 +- .../imu/invensense/icm20649/ICM20649.hpp | 2 +- .../imu/invensense/icm20689/ICM20689.hpp | 2 +- .../imu/invensense/icm20948/ICM20948.hpp | 2 +- .../imu/invensense/icm40609d/ICM40609D.hpp | 2 +- .../imu/invensense/icm42605/ICM42605.hpp | 2 +- .../imu/invensense/icm42688p/ICM42688P.hpp | 2 +- .../imu/invensense/mpu6000/MPU6000.hpp | 2 +- .../imu/invensense/mpu6500/MPU6500.hpp | 2 +- .../imu/invensense/mpu9250/MPU9250.hpp | 2 +- .../imu/invensense/mpu9250/MPU9250_I2C.hpp | 2 +- src/drivers/imu/lsm303d/LSM303D.hpp | 2 +- src/drivers/imu/st/lsm9ds1/LSM9DS1.hpp | 2 +- .../magnetometer/lsm303agr/LSM303AGR.cpp | 2 +- .../telemetry/frsky_telemetry/frsky_data.cpp | 2 +- .../telemetry/frsky_telemetry/sPort_data.cpp | 2 +- src/drivers/telemetry/hott/messages.cpp | 2 +- src/drivers/uavcan/sensors/airspeed.cpp | 2 +- src/drivers/uavcan/sensors/baro.cpp | 2 +- src/drivers/uavcan/sensors/battery.cpp | 2 +- src/drivers/uavcan/sensors/cbat.cpp | 2 +- .../uavcan/sensors/differential_pressure.cpp | 2 +- src/drivers/uavcan_v1/Uavcan.cpp | 2 +- src/drivers/uavcannode/UavcanNode.cpp | 2 +- src/examples/fake_magnetometer/CMakeLists.txt | 2 +- src/examples/fixedwing_control/main.cpp | 2 +- src/examples/rover_steering_control/main.cpp | 2 +- .../uuv_example_app/uuv_example_app.cpp | 2 +- src/lib/CMakeLists.txt | 3 +- src/lib/airspeed/airspeed.cpp | 2 +- .../accelerometer/PX4Accelerometer.hpp | 2 +- src/lib/drivers/smbus_sbs/SBS.hpp | 2 +- src/lib/ecl/CMakeLists.txt | 20 +++++---- src/lib/ecl/EKF/CMakeLists.txt | 2 +- src/lib/ecl/EKF/EKFGSF_yaw.h | 2 +- src/lib/ecl/EKF/estimator_interface.h | 2 +- src/lib/ecl/test/CMakeLists.txt | 1 - src/lib/{ecl => }/geo/CMakeLists.txt | 20 +++++---- src/lib/{ecl => }/geo/geo.cpp | 41 +++++++++++-------- src/lib/{ecl => }/geo/geo.h | 27 +++++++----- src/lib/{ecl/test => geo}/test_geo.cpp | 21 +++++----- src/lib/l1/CMakeLists.txt | 2 +- src/lib/l1/ECL_L1_Pos_Controller.cpp | 2 +- src/lib/tecs/CMakeLists.txt | 2 +- src/lib/tecs/TECS.cpp | 2 +- .../terrain_estimation/terrain_estimator.cpp | 2 +- src/lib/world_magnetic_model/CMakeLists.txt | 1 + .../AngularVelocityController.cpp | 2 +- .../attitude_estimator_q_main.cpp | 2 +- src/modules/commander/CMakeLists.txt | 2 +- src/modules/commander/Commander.cpp | 2 +- .../commander/accelerometer_calibration.cpp | 2 +- .../commander/calibration_routines.cpp | 2 +- src/modules/commander/level_calibration.cpp | 2 +- src/modules/ekf2/CMakeLists.txt | 2 +- .../tasks/Auto/FlightTaskAuto.hpp | 2 +- .../tasks/FlightTask/FlightTask.cpp | 2 +- .../tasks/FlightTask/FlightTask.hpp | 2 +- .../FlightTaskManualAltitude.cpp | 2 +- .../tasks/Orbit/FlightTaskOrbit.cpp | 2 +- .../tasks/Utility/StickAccelerationXY.cpp | 2 +- .../FixedwingAttitudeControl.hpp | 2 +- .../fw_att_control/ecl_pitch_controller.cpp | 2 +- .../fw_att_control/ecl_roll_controller.cpp | 2 +- .../fw_att_control/ecl_wheel_controller.cpp | 2 +- .../fw_att_control/ecl_yaw_controller.cpp | 2 +- .../FixedwingPositionControl.hpp | 2 +- .../gyro_calibration/GyroCalibration.cpp | 2 +- .../BlockLocalPositionEstimator.hpp | 2 +- .../local_position_estimator/CMakeLists.txt | 2 +- src/modules/mavlink/CMakeLists.txt | 2 +- src/modules/mavlink/mavlink_main.cpp | 2 +- src/modules/mavlink/mavlink_messages.cpp | 2 +- src/modules/mavlink/mavlink_mission.cpp | 2 +- src/modules/mavlink/mavlink_receiver.cpp | 2 +- src/modules/mavlink/streams/HIGH_LATENCY2.hpp | 2 +- src/modules/mavlink/streams/SCALED_IMU.hpp | 2 +- src/modules/mavlink/streams/SCALED_IMU2.hpp | 2 +- src/modules/mavlink/streams/SCALED_IMU3.hpp | 2 +- .../zero_order_hover_thrust_ekf.hpp | 2 +- src/modules/mc_pos_control/CMakeLists.txt | 2 +- .../PositionControl/PositionControl.cpp | 2 +- .../mc_pos_control/Takeoff/Takeoff.cpp | 2 +- .../mc_pos_control/Takeoff/TakeoffTest.cpp | 2 +- src/modules/navigator/CMakeLists.txt | 2 +- .../GeofenceBreachAvoidance/CMakeLists.txt | 2 +- .../geofence_breach_avoidance.cpp | 2 +- src/modules/navigator/enginefailure.cpp | 2 +- src/modules/navigator/follow_target.cpp | 2 +- src/modules/navigator/geofence.cpp | 2 +- src/modules/navigator/geofence.h | 2 +- src/modules/navigator/gpsfailure.cpp | 2 +- src/modules/navigator/mission.cpp | 2 +- src/modules/navigator/mission_block.cpp | 2 +- .../navigator/mission_feasibility_checker.cpp | 2 +- src/modules/navigator/navigator_main.cpp | 2 +- src/modules/navigator/precland.h | 2 +- src/modules/navigator/rtl.cpp | 2 +- src/modules/navigator/rtl.h | 2 +- .../RoverPositionControl.cpp | 2 +- .../RoverPositionControl.hpp | 2 +- .../vehicle_air_data/VehicleAirData.cpp | 2 +- .../vehicle_gps_position/CMakeLists.txt | 8 +++- .../VehicleGPSPosition.cpp | 2 +- .../vehicle_gps_position/gps_blending.hpp | 2 +- .../VehicleMagnetometer.cpp | 2 +- src/modules/sensors/voted_sensors_update.cpp | 2 +- src/modules/sih/sih.hpp | 2 +- src/modules/simulator/CMakeLists.txt | 2 +- src/modules/simulator/simulator.h | 2 +- src/modules/simulator/simulator_mavlink.cpp | 2 +- .../uuv_att_control/uuv_att_control.hpp | 2 +- .../uuv_pos_control/uuv_pos_control.hpp | 2 +- src/modules/vmount/CMakeLists.txt | 2 +- src/modules/vmount/input_mavlink.h | 2 +- src/modules/vmount/output.cpp | 2 +- src/modules/vmount/output.h | 2 +- .../vtol_att_control/vtol_att_control_main.h | 2 +- 128 files changed, 202 insertions(+), 178 deletions(-) rename src/lib/{ecl => }/geo/CMakeLists.txt (79%) rename src/lib/{ecl => }/geo/geo.cpp (91%) rename src/lib/{ecl => }/geo/geo.h (93%) rename src/lib/{ecl/test => geo}/test_geo.cpp (91%) diff --git a/src/drivers/batt_smbus/batt_smbus.h b/src/drivers/batt_smbus/batt_smbus.h index 864125ea2a..1915865c80 100644 --- a/src/drivers/batt_smbus/batt_smbus.h +++ b/src/drivers/batt_smbus/batt_smbus.h @@ -44,7 +44,7 @@ #pragma once -#include +#include #include #include #include diff --git a/src/drivers/imu/adis16477/ADIS16477.hpp b/src/drivers/imu/adis16477/ADIS16477.hpp index acd046e139..c99de49d6b 100644 --- a/src/drivers/imu/adis16477/ADIS16477.hpp +++ b/src/drivers/imu/adis16477/ADIS16477.hpp @@ -39,7 +39,7 @@ #pragma once #include -#include +#include #include #include #include diff --git a/src/drivers/imu/adis16497/ADIS16497.hpp b/src/drivers/imu/adis16497/ADIS16497.hpp index 5b7372c52f..828e53697c 100644 --- a/src/drivers/imu/adis16497/ADIS16497.hpp +++ b/src/drivers/imu/adis16497/ADIS16497.hpp @@ -39,7 +39,7 @@ #pragma once #include -#include +#include #include #include #include diff --git a/src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp b/src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp index f57deeffb8..2546775ac8 100644 --- a/src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp +++ b/src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp @@ -48,7 +48,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp b/src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp index 31c68e926d..5c64b92a6e 100644 --- a/src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp +++ b/src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp b/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp index 50c9d09c9b..0a809d4195 100644 --- a/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp @@ -33,7 +33,7 @@ #include "BMI055_Accelerometer.hpp" -#include // CONSTANTS_ONE_G +#include // CONSTANTS_ONE_G using namespace time_literals; diff --git a/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp b/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp index a7b516f2c4..0db96b7547 100644 --- a/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp @@ -33,7 +33,7 @@ #include "BMI088_Accelerometer.hpp" -#include // CONSTANTS_ONE_G +#include // CONSTANTS_ONE_G using namespace time_literals; diff --git a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp index 5accde470c..488a086c77 100644 --- a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp @@ -33,7 +33,7 @@ #include "BMI088_Accelerometer.hpp" -#include // CONSTANTS_ONE_G +#include // CONSTANTS_ONE_G using namespace time_literals; diff --git a/src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp b/src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp index 98837b10a0..ac3954a8e2 100644 --- a/src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp +++ b/src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp @@ -42,7 +42,7 @@ #include #include #include -#include +#include #include #include diff --git a/src/drivers/imu/invensense/icm20602/ICM20602.hpp b/src/drivers/imu/invensense/icm20602/ICM20602.hpp index 34a4fb118c..fa33eb71d7 100644 --- a/src/drivers/imu/invensense/icm20602/ICM20602.hpp +++ b/src/drivers/imu/invensense/icm20602/ICM20602.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp b/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp index a6400ceb57..cf8906b578 100644 --- a/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp +++ b/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/icm20649/ICM20649.hpp b/src/drivers/imu/invensense/icm20649/ICM20649.hpp index cffaf9d76c..cbaf1cfa32 100644 --- a/src/drivers/imu/invensense/icm20649/ICM20649.hpp +++ b/src/drivers/imu/invensense/icm20649/ICM20649.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/icm20689/ICM20689.hpp b/src/drivers/imu/invensense/icm20689/ICM20689.hpp index 794011e155..4ae2cc3271 100644 --- a/src/drivers/imu/invensense/icm20689/ICM20689.hpp +++ b/src/drivers/imu/invensense/icm20689/ICM20689.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/icm20948/ICM20948.hpp b/src/drivers/imu/invensense/icm20948/ICM20948.hpp index 6a2fff6bd9..db9839649e 100644 --- a/src/drivers/imu/invensense/icm20948/ICM20948.hpp +++ b/src/drivers/imu/invensense/icm20948/ICM20948.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp b/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp index 778f823e42..d997eb5ba4 100644 --- a/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp +++ b/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/icm42605/ICM42605.hpp b/src/drivers/imu/invensense/icm42605/ICM42605.hpp index cc4f0b0ab1..76e4ccde94 100644 --- a/src/drivers/imu/invensense/icm42605/ICM42605.hpp +++ b/src/drivers/imu/invensense/icm42605/ICM42605.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp index ac6d4599af..932b3cb28d 100644 --- a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp +++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/mpu6000/MPU6000.hpp b/src/drivers/imu/invensense/mpu6000/MPU6000.hpp index 902a657191..f1ab397e66 100644 --- a/src/drivers/imu/invensense/mpu6000/MPU6000.hpp +++ b/src/drivers/imu/invensense/mpu6000/MPU6000.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/mpu6500/MPU6500.hpp b/src/drivers/imu/invensense/mpu6500/MPU6500.hpp index 0fb6a21b53..10bdb20d4c 100644 --- a/src/drivers/imu/invensense/mpu6500/MPU6500.hpp +++ b/src/drivers/imu/invensense/mpu6500/MPU6500.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.hpp b/src/drivers/imu/invensense/mpu9250/MPU9250.hpp index 8ce4c78f4c..acff91780f 100644 --- a/src/drivers/imu/invensense/mpu9250/MPU9250.hpp +++ b/src/drivers/imu/invensense/mpu9250/MPU9250.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250_I2C.hpp b/src/drivers/imu/invensense/mpu9250/MPU9250_I2C.hpp index 06004376cc..65f6c20975 100644 --- a/src/drivers/imu/invensense/mpu9250/MPU9250_I2C.hpp +++ b/src/drivers/imu/invensense/mpu9250/MPU9250_I2C.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/imu/lsm303d/LSM303D.hpp b/src/drivers/imu/lsm303d/LSM303D.hpp index a521cfbd13..62d3de5122 100644 --- a/src/drivers/imu/lsm303d/LSM303D.hpp +++ b/src/drivers/imu/lsm303d/LSM303D.hpp @@ -39,7 +39,7 @@ #pragma once #include -#include +#include #include #include #include diff --git a/src/drivers/imu/st/lsm9ds1/LSM9DS1.hpp b/src/drivers/imu/st/lsm9ds1/LSM9DS1.hpp index 206fe43834..fdaf2ea647 100644 --- a/src/drivers/imu/st/lsm9ds1/LSM9DS1.hpp +++ b/src/drivers/imu/st/lsm9ds1/LSM9DS1.hpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include diff --git a/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp b/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp index 6826dc138b..a8ba405394 100644 --- a/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp +++ b/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp @@ -41,7 +41,7 @@ #include #include -#include +#include /* SPI protocol address bits */ #define DIR_READ (1<<7) diff --git a/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp b/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp index 5e8cf71333..6cc69d068d 100644 --- a/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp +++ b/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp @@ -47,7 +47,7 @@ #include #include #include -#include +#include #include #include diff --git a/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp b/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp index a9dea500af..dc6995f697 100644 --- a/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp +++ b/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp @@ -49,7 +49,7 @@ #include #include -#include +#include #include #include diff --git a/src/drivers/telemetry/hott/messages.cpp b/src/drivers/telemetry/hott/messages.cpp index 552322a108..629c571884 100644 --- a/src/drivers/telemetry/hott/messages.cpp +++ b/src/drivers/telemetry/hott/messages.cpp @@ -42,7 +42,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/uavcan/sensors/airspeed.cpp b/src/drivers/uavcan/sensors/airspeed.cpp index e9f170bdfc..1757c3a145 100644 --- a/src/drivers/uavcan/sensors/airspeed.cpp +++ b/src/drivers/uavcan/sensors/airspeed.cpp @@ -38,7 +38,7 @@ #include #include "airspeed.hpp" #include -#include // For CONSTANTS_* +#include // For CONSTANTS_* const char *const UavcanAirspeedBridge::NAME = "airspeed"; diff --git a/src/drivers/uavcan/sensors/baro.cpp b/src/drivers/uavcan/sensors/baro.cpp index 9c57d16729..4d73588ae1 100644 --- a/src/drivers/uavcan/sensors/baro.cpp +++ b/src/drivers/uavcan/sensors/baro.cpp @@ -40,7 +40,7 @@ #include #include -#include // For CONSTANTS_* +#include // For CONSTANTS_* const char *const UavcanBarometerBridge::NAME = "baro"; diff --git a/src/drivers/uavcan/sensors/battery.cpp b/src/drivers/uavcan/sensors/battery.cpp index b17b07b35b..23be52437f 100644 --- a/src/drivers/uavcan/sensors/battery.cpp +++ b/src/drivers/uavcan/sensors/battery.cpp @@ -33,7 +33,7 @@ #include "battery.hpp" -#include +#include #include const char *const UavcanBatteryBridge::NAME = "battery"; diff --git a/src/drivers/uavcan/sensors/cbat.cpp b/src/drivers/uavcan/sensors/cbat.cpp index 304a305449..84beb60483 100644 --- a/src/drivers/uavcan/sensors/cbat.cpp +++ b/src/drivers/uavcan/sensors/cbat.cpp @@ -33,7 +33,7 @@ #include "cbat.hpp" -#include +#include #include const char *const UavcanCBATBridge::NAME = "cbat"; diff --git a/src/drivers/uavcan/sensors/differential_pressure.cpp b/src/drivers/uavcan/sensors/differential_pressure.cpp index 32f6135cee..8c9e6069ef 100644 --- a/src/drivers/uavcan/sensors/differential_pressure.cpp +++ b/src/drivers/uavcan/sensors/differential_pressure.cpp @@ -39,7 +39,7 @@ #include #include -#include +#include #include #include diff --git a/src/drivers/uavcan_v1/Uavcan.cpp b/src/drivers/uavcan_v1/Uavcan.cpp index 6c6d4a7e38..c863c03403 100644 --- a/src/drivers/uavcan_v1/Uavcan.cpp +++ b/src/drivers/uavcan_v1/Uavcan.cpp @@ -33,7 +33,7 @@ #include "Uavcan.hpp" -#include +#include #include using namespace time_literals; diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp index a19fe586a9..4a553b15c0 100644 --- a/src/drivers/uavcannode/UavcanNode.cpp +++ b/src/drivers/uavcannode/UavcanNode.cpp @@ -37,7 +37,7 @@ #include "boot_alt_app_shared.h" #include -#include +#include #include #include "Publishers/BatteryInfo.hpp" diff --git a/src/examples/fake_magnetometer/CMakeLists.txt b/src/examples/fake_magnetometer/CMakeLists.txt index 65ca4ccce7..c99b4267f3 100644 --- a/src/examples/fake_magnetometer/CMakeLists.txt +++ b/src/examples/fake_magnetometer/CMakeLists.txt @@ -40,6 +40,6 @@ px4_add_module( FakeMagnetometer.hpp DEPENDS drivers_magnetometer - ecl_geo + geo px4_work_queue ) diff --git a/src/examples/fixedwing_control/main.cpp b/src/examples/fixedwing_control/main.cpp index c16adbac27..a37b93983e 100644 --- a/src/examples/fixedwing_control/main.cpp +++ b/src/examples/fixedwing_control/main.cpp @@ -47,7 +47,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp index a1f8c6b47b..ae00604e60 100644 --- a/src/examples/rover_steering_control/main.cpp +++ b/src/examples/rover_steering_control/main.cpp @@ -63,7 +63,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/examples/uuv_example_app/uuv_example_app.cpp b/src/examples/uuv_example_app/uuv_example_app.cpp index 99bd013827..7c33fe384a 100644 --- a/src/examples/uuv_example_app/uuv_example_app.cpp +++ b/src/examples/uuv_example_app/uuv_example_app.cpp @@ -58,7 +58,7 @@ // internal libraries #include #include -#include +#include // Include uORB and the required topics for this app #include diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt index 5eb9355291..6d6c2d34e7 100644 --- a/src/lib/CMakeLists.txt +++ b/src/lib/CMakeLists.txt @@ -41,12 +41,13 @@ add_subdirectory(bezier) add_subdirectory(cdev) add_subdirectory(circuit_breaker) add_subdirectory(collision_prevention) -add_subdirectory(controllib) add_subdirectory(component_information) +add_subdirectory(controllib) add_subdirectory(conversion) add_subdirectory(crypto) add_subdirectory(drivers) add_subdirectory(ecl) +add_subdirectory(geo) add_subdirectory(hysteresis) add_subdirectory(l1) add_subdirectory(landing_slope) diff --git a/src/lib/airspeed/airspeed.cpp b/src/lib/airspeed/airspeed.cpp index 50b8a0614e..f3ed3506b6 100644 --- a/src/lib/airspeed/airspeed.cpp +++ b/src/lib/airspeed/airspeed.cpp @@ -43,7 +43,7 @@ #include "airspeed.h" #include -#include +#include float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_SENSOR_MODEL smodel, float tube_len, float tube_dia_mm, float differential_pressure, float pressure_ambient, float temperature_celsius) diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp index ee20407f5c..1e4885ccf7 100644 --- a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp +++ b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp @@ -35,7 +35,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/lib/drivers/smbus_sbs/SBS.hpp b/src/lib/drivers/smbus_sbs/SBS.hpp index 11b518cbed..de636d4cf5 100644 --- a/src/lib/drivers/smbus_sbs/SBS.hpp +++ b/src/lib/drivers/smbus_sbs/SBS.hpp @@ -47,7 +47,7 @@ #include #include #include -#include +#include using namespace time_literals; diff --git a/src/lib/ecl/CMakeLists.txt b/src/lib/ecl/CMakeLists.txt index f2d8643b0a..9c1fba2d1e 100644 --- a/src/lib/ecl/CMakeLists.txt +++ b/src/lib/ecl/CMakeLists.txt @@ -95,14 +95,6 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR) add_custom_target(prebuild_targets) - # 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(${CMAKE_CURRENT_SOURCE_DIR}) - add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../world_magnetic_model world_magnetic_model) - include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../..) - if(MSVC) add_compile_options( /W4 @@ -152,6 +144,17 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR) add_dependencies(prebuild_targets matrix) include_directories(${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")) @@ -179,7 +182,6 @@ if(ECL_ASAN) endif() add_subdirectory(EKF) -add_subdirectory(geo) if(BUILD_TESTING AND CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR) add_subdirectory(test) diff --git a/src/lib/ecl/EKF/CMakeLists.txt b/src/lib/ecl/EKF/CMakeLists.txt index dc3250e4c0..99bcf3b791 100644 --- a/src/lib/ecl/EKF/CMakeLists.txt +++ b/src/lib/ecl/EKF/CMakeLists.txt @@ -56,7 +56,7 @@ add_library(ecl_EKF 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 ecl_geo world_magnetic_model) +target_link_libraries(ecl_EKF PRIVATE geo world_magnetic_model) set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h") diff --git a/src/lib/ecl/EKF/EKFGSF_yaw.h b/src/lib/ecl/EKF/EKFGSF_yaw.h index 3f74e50257..ea9e8ca136 100644 --- a/src/lib/ecl/EKF/EKFGSF_yaw.h +++ b/src/lib/ecl/EKF/EKFGSF_yaw.h @@ -1,6 +1,6 @@ #pragma once -#include +#include #include #include diff --git a/src/lib/ecl/EKF/estimator_interface.h b/src/lib/ecl/EKF/estimator_interface.h index 470c2ca9a9..a6dc866606 100644 --- a/src/lib/ecl/EKF/estimator_interface.h +++ b/src/lib/ecl/EKF/estimator_interface.h @@ -48,7 +48,7 @@ #include "sensor_range_finder.hpp" #include "utils.hpp" -#include +#include #include #include #include diff --git a/src/lib/ecl/test/CMakeLists.txt b/src/lib/ecl/test/CMakeLists.txt index adcefa2b7a..bb19ff85ee 100644 --- a/src/lib/ecl/test/CMakeLists.txt +++ b/src/lib/ecl/test/CMakeLists.txt @@ -52,7 +52,6 @@ set(SRCS test_EKF_flow.cpp test_EKF_terrain_estimator.cpp test_SensorRangeFinder.cpp - test_geo.cpp test_EKF_utils.cpp ) add_executable(ECL_GTESTS ${SRCS}) diff --git a/src/lib/ecl/geo/CMakeLists.txt b/src/lib/geo/CMakeLists.txt similarity index 79% rename from src/lib/ecl/geo/CMakeLists.txt rename to src/lib/geo/CMakeLists.txt index d01a9d6497..149af1f80a 100644 --- a/src/lib/ecl/geo/CMakeLists.txt +++ b/src/lib/geo/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2018 ECL Development Team. All rights reserved. +# Copyright (c) 2018-2021 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 @@ -12,7 +12,7 @@ # 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 +# 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. # @@ -31,10 +31,14 @@ # ############################################################################ -add_library(ecl_geo +add_library(geo geo.cpp - ) -add_dependencies(ecl_geo prebuild_targets) -target_compile_definitions(ecl_geo PRIVATE -DMODULE_NAME="ecl/geo") -target_include_directories(ecl_geo PUBLIC ${ECL_SOURCE_DIR}) -target_link_libraries(ecl_geo PRIVATE m) + geo.h +) +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() diff --git a/src/lib/ecl/geo/geo.cpp b/src/lib/geo/geo.cpp similarity index 91% rename from src/lib/ecl/geo/geo.cpp rename to src/lib/geo/geo.cpp index ec9e6713f9..98b532d77d 100644 --- a/src/lib/ecl/geo/geo.cpp +++ b/src/lib/geo/geo.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2021 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 @@ -43,7 +43,6 @@ */ #include "geo.h" -#include #include #include @@ -52,23 +51,26 @@ using matrix::wrap_pi; using matrix::wrap_2pi; +#ifndef hrt_absolute_time +# define hrt_absolute_time() (0) +#endif + /* * Azimuthal Equidistant Projection * formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ -bool map_projection_initialized(const struct map_projection_reference_s *ref) +bool map_projection_initialized(const map_projection_reference_s *ref) { return ref->init_done; } -uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref) +uint64_t map_projection_timestamp(const map_projection_reference_s *ref) { return ref->timestamp; } -// lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 -int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) +int map_projection_init_timestamped(map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) { ref->lat_rad = math::radians(lat_0); ref->lon_rad = math::radians(lon_0); @@ -81,13 +83,12 @@ int map_projection_init_timestamped(struct map_projection_reference_s *ref, doub return 0; } -//lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 -int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) +int map_projection_init(map_projection_reference_s *ref, double lat_0, double lon_0) { - return map_projection_init_timestamped(ref, lat_0, lon_0, ecl_absolute_time()); + return map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time()); } -int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad) +int map_projection_reference(const map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad) { if (!map_projection_initialized(ref)) { return -1; @@ -99,7 +100,7 @@ int map_projection_reference(const struct map_projection_reference_s *ref, doubl return 0; } -int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y) +int map_projection_project(const map_projection_reference_s *ref, double lat, double lon, float *x, float *y) { if (!map_projection_initialized(ref)) { return -1; @@ -128,7 +129,7 @@ int map_projection_project(const struct map_projection_reference_s *ref, double return 0; } -int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon) +int map_projection_reproject(const map_projection_reference_s *ref, float x, float y, double *lat, double *lon) { if (!map_projection_initialized(ref)) { return -1; @@ -164,7 +165,8 @@ float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_n const double d_lat = lat_next_rad - lat_now_rad; const double d_lon = math::radians(lon_next) - math::radians(lon_now); - const double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos(lat_next_rad); + const double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos( + lat_next_rad); const double c = atan2(sqrt(a), sqrt(1.0 - a)); @@ -177,6 +179,7 @@ void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B if (fabsf(dist) < FLT_EPSILON) { *lat_target = lat_A; *lon_target = lon_A; + } else { float heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B); waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target); @@ -192,7 +195,8 @@ void waypoint_from_heading_and_distance(double lat_start, double lon_start, floa double lat_start_rad = math::radians(lat_start); double lon_start_rad = math::radians(lon_start); - *lat_target = asin(sin(lat_start_rad) * cos(radius_ratio) + cos(lat_start_rad) * sin(radius_ratio) * cos((double)bearing)); + *lat_target = asin(sin(lat_start_rad) * cos(radius_ratio) + cos(lat_start_rad) * sin(radius_ratio) * cos(( + double)bearing)); *lon_target = lon_start_rad + atan2(sin((double)bearing) * sin(radius_ratio) * cos(lat_start_rad), cos(radius_ratio) - sin(lat_start_rad) * sin(*lat_target)); @@ -224,12 +228,14 @@ get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, dou const double d_lon = math::radians(lon_next) - math::radians(lon_now); /* conscious mix of double and float trig function to maximize speed and efficiency */ - *v_n = static_cast(CONSTANTS_RADIUS_OF_EARTH * (cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon))); + *v_n = static_cast(CONSTANTS_RADIUS_OF_EARTH * (cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos( + lat_next_rad) * cos(d_lon))); *v_e = static_cast(CONSTANTS_RADIUS_OF_EARTH * sin(d_lon) * cos(lat_next_rad)); } void -get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e) +get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, + float *v_e) { double lat_now_rad = math::radians(lat_now); double lon_now_rad = math::radians(lon_now); @@ -244,7 +250,8 @@ get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next *v_e = static_cast(CONSTANTS_RADIUS_OF_EARTH * d_lon * cos(lat_now_rad)); } -void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, double *lon_res) +void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, + double *lon_res) { double lat_now_rad = math::radians(lat_now); double lon_now_rad = math::radians(lon_now); diff --git a/src/lib/ecl/geo/geo.h b/src/lib/geo/geo.h similarity index 93% rename from src/lib/ecl/geo/geo.h rename to src/lib/geo/geo.h index bc5383df5e..251418d19b 100644 --- a/src/lib/ecl/geo/geo.h +++ b/src/lib/geo/geo.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved. + * Copyright (C) 2012-2021 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 @@ -52,7 +52,8 @@ static constexpr float CONSTANTS_ONE_G = 9.80665f; // m/s^2 static constexpr float CONSTANTS_STD_PRESSURE_PA = 101325.0f; // pascals (Pa) static constexpr float CONSTANTS_STD_PRESSURE_KPA = CONSTANTS_STD_PRESSURE_PA / 1000.0f; // kilopascals (kPa) -static constexpr float CONSTANTS_STD_PRESSURE_MBAR = CONSTANTS_STD_PRESSURE_PA / 100.0f; // Millibar (mbar) (1 mbar = 100 Pa) +static constexpr float CONSTANTS_STD_PRESSURE_MBAR = CONSTANTS_STD_PRESSURE_PA / + 100.0f; // Millibar (mbar) (1 mbar = 100 Pa) static constexpr float CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C = 1.225f; // kg/m^3 static constexpr float CONSTANTS_AIR_GAS_CONST = 287.1f; // J/(kg * K) @@ -107,7 +108,8 @@ int map_projection_reference(const struct map_projection_reference_s *ref, doubl * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) */ -int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp); +int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, + uint64_t timestamp); /** * Initializes the map transformation given by the argument and sets the timestamp to now. @@ -164,7 +166,7 @@ float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_n * @param lon_target longitude of target waypoint C in degrees (47.1234567°, not 471234567°) */ void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist, - double *lat_target, double *lon_target); + double *lat_target, double *lon_target); /** * Creates a waypoint from given waypoint, distance and bearing @@ -178,7 +180,7 @@ void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B * @param lon_target longitude of target waypoint in degrees (47.1234567°, not 471234567°) */ void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist, - double *lat_target, double *lon_target); + double *lat_target, double *lon_target); /** * Returns the bearing to the next waypoint in radians. @@ -190,18 +192,21 @@ void waypoint_from_heading_and_distance(double lat_start, double lon_start, floa */ float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next); -void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e); +void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, + float *v_e); -void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e); +void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, + float *v_e); -void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, double *lon_res); +void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, + double *lon_res); int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, - double lat_start, double lon_start, double lat_end, double lon_end); + double lat_start, double lon_start, double lat_end, double lon_end); int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, - double lat_center, double lon_center, - float radius, float arc_start_bearing, float arc_sweep); + double lat_center, double lon_center, + float radius, float arc_start_bearing, float arc_sweep); /* * Calculate distance in global frame diff --git a/src/lib/ecl/test/test_geo.cpp b/src/lib/geo/test_geo.cpp similarity index 91% rename from src/lib/ecl/test/test_geo.cpp rename to src/lib/geo/test_geo.cpp index 2970bdf5a7..4288788849 100644 --- a/src/lib/ecl/test/test_geo.cpp +++ b/src/lib/geo/test_geo.cpp @@ -35,10 +35,11 @@ #include #include #include -#include +#include -class GeoTest : public ::testing::Test { - public: +class GeoTest : public ::testing::Test +{ +public: void SetUp() override { origin.timestamp = 0; @@ -49,7 +50,7 @@ class GeoTest : public ::testing::Test { origin.init_done = true; } - protected: +protected: map_projection_reference_s origin; }; @@ -123,7 +124,7 @@ TEST_F(GeoTest, waypoint_from_heading_and_negative_distance) double lon_start = 18; float bearing = 0; float lat_offset = -0.01f; - float dist = CONSTANTS_RADIUS_OF_EARTH * M_PI / 180.f * lat_offset; + float dist = CONSTANTS_RADIUS_OF_EARTH_F * M_PI_F / 180.f * lat_offset; double lat_target = 0; double lon_target = 0; @@ -132,7 +133,7 @@ TEST_F(GeoTest, waypoint_from_heading_and_negative_distance) waypoint_from_heading_and_distance(lat_start, lon_start, bearing, dist, &lat_target, &lon_target); // THEN: it should be the same - EXPECT_FLOAT_EQ(lat_start + lat_offset, lat_target); + EXPECT_FLOAT_EQ(static_cast(lat_start) + lat_offset, lat_target); EXPECT_DOUBLE_EQ(lon_start, lon_target); } @@ -143,7 +144,7 @@ TEST_F(GeoTest, waypoint_from_heading_and_positive_distance) double lon_start = 18; float bearing = 0; float lat_offset = 0.01f; - float dist = CONSTANTS_RADIUS_OF_EARTH * M_PI / 180.f * lat_offset; + float dist = CONSTANTS_RADIUS_OF_EARTH_F * M_PI_F / 180.f * lat_offset; double lat_target = 0; double lon_target = 0; @@ -152,7 +153,7 @@ TEST_F(GeoTest, waypoint_from_heading_and_positive_distance) waypoint_from_heading_and_distance(lat_start, lon_start, bearing, dist, &lat_target, &lon_target); // THEN: it should be the same - EXPECT_FLOAT_EQ(lat_start + lat_offset, lat_target); + EXPECT_FLOAT_EQ(static_cast(lat_start) + lat_offset, lat_target); EXPECT_DOUBLE_EQ(lon_start, lon_target); } @@ -184,7 +185,7 @@ TEST_F(GeoTest, waypoint_from_line_and_positive_distance) double lat_offset = 0.01; double lat_end = lat_start + lat_offset; double lon_end = 18; - float dist = CONSTANTS_RADIUS_OF_EARTH * M_PI / 180.f * lat_offset; + float dist = CONSTANTS_RADIUS_OF_EARTH_F * M_PI_F / 180.f * static_cast(lat_offset); double lat_target = 0; double lon_target = 0; @@ -206,7 +207,7 @@ TEST_F(GeoTest, waypoint_from_line_and_negative_distance) double lat_offset = 0.01; double lat_end = lat_start + lat_offset; double lon_end = 18; - float dist = -CONSTANTS_RADIUS_OF_EARTH * M_PI / 180.f * lat_offset; + float dist = -CONSTANTS_RADIUS_OF_EARTH_F * M_PI_F / 180.f * static_cast(lat_offset); double lat_target = 0; double lon_target = 0; diff --git a/src/lib/l1/CMakeLists.txt b/src/lib/l1/CMakeLists.txt index 7c93473776..66e03d2358 100644 --- a/src/lib/l1/CMakeLists.txt +++ b/src/lib/l1/CMakeLists.txt @@ -36,4 +36,4 @@ px4_add_library(l1 ECL_L1_Pos_Controller.hpp ) -target_link_libraries(l1 PRIVATE ecl_geo) +target_link_libraries(l1 PRIVATE geo) diff --git a/src/lib/l1/ECL_L1_Pos_Controller.cpp b/src/lib/l1/ECL_L1_Pos_Controller.cpp index c5e81c4f85..f711bb15a2 100644 --- a/src/lib/l1/ECL_L1_Pos_Controller.cpp +++ b/src/lib/l1/ECL_L1_Pos_Controller.cpp @@ -40,7 +40,7 @@ #include "ECL_L1_Pos_Controller.hpp" -#include +#include #include diff --git a/src/lib/tecs/CMakeLists.txt b/src/lib/tecs/CMakeLists.txt index f8ce904697..128bb6eed5 100644 --- a/src/lib/tecs/CMakeLists.txt +++ b/src/lib/tecs/CMakeLists.txt @@ -36,4 +36,4 @@ px4_add_library(tecs TECS.hpp ) -target_link_libraries(tecs PRIVATE ecl_geo) +target_link_libraries(tecs PRIVATE geo) diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index 6ed3a8b62e..805363e38a 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -33,7 +33,7 @@ #include "TECS.hpp" -#include +#include #include diff --git a/src/lib/terrain_estimation/terrain_estimator.cpp b/src/lib/terrain_estimation/terrain_estimator.cpp index 13c2d4def0..2ec7b87652 100644 --- a/src/lib/terrain_estimation/terrain_estimator.cpp +++ b/src/lib/terrain_estimation/terrain_estimator.cpp @@ -37,7 +37,7 @@ */ #include "terrain_estimator.h" -#include +#include #include #define DISTANCE_TIMEOUT 100000 // time in usec after which laser is considered dead diff --git a/src/lib/world_magnetic_model/CMakeLists.txt b/src/lib/world_magnetic_model/CMakeLists.txt index ff3396713c..07d56ecc98 100644 --- a/src/lib/world_magnetic_model/CMakeLists.txt +++ b/src/lib/world_magnetic_model/CMakeLists.txt @@ -36,6 +36,7 @@ add_library(world_magnetic_model geo_mag_declination.h geo_magnetic_tables.hpp ) +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 diff --git a/src/modules/angular_velocity_controller/AngularVelocityController.cpp b/src/modules/angular_velocity_controller/AngularVelocityController.cpp index 1d8dcba7c9..45bd171855 100644 --- a/src/modules/angular_velocity_controller/AngularVelocityController.cpp +++ b/src/modules/angular_velocity_controller/AngularVelocityController.cpp @@ -37,7 +37,7 @@ #include #include #include -#include +#include using namespace matrix; using namespace time_literals; diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 5109b045b5..a11af425ed 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -42,7 +42,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt index 8dad922009..78e7feb4a5 100644 --- a/src/modules/commander/CMakeLists.txt +++ b/src/modules/commander/CMakeLists.txt @@ -57,7 +57,7 @@ px4_add_module( DEPENDS circuit_breaker failure_detector - ecl_geo + geo hysteresis PreFlightCheck ArmAuthorization diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 1cf60e82ba..f315c6d007 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -57,7 +57,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 763470da4f..6c9ebd6f7c 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -134,7 +134,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index a5e645e315..c9ba9aa635 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/commander/level_calibration.cpp b/src/modules/commander/level_calibration.cpp index 9e4092c887..564a7ca030 100644 --- a/src/modules/commander/level_calibration.cpp +++ b/src/modules/commander/level_calibration.cpp @@ -42,7 +42,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt index 5a4954df20..b778949948 100644 --- a/src/modules/ekf2/CMakeLists.txt +++ b/src/modules/ekf2/CMakeLists.txt @@ -45,7 +45,7 @@ px4_add_module( EKF2Selector.hpp DEPENDS ecl_EKF - ecl_geo + geo perf EKF2Utility px4_work_queue diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp index bccb40051a..55b8aea4d5 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp @@ -45,7 +45,7 @@ #include #include #include -#include +#include // TODO: make this switchable in the board config, like a module #if CONSTRAINED_FLASH diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp index 55c78b5cd5..a40d63c57b 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp @@ -1,6 +1,6 @@ #include "FlightTask.hpp" #include -#include +#include constexpr uint64_t FlightTask::_timeout; // First index of empty_setpoint corresponds to time-stamp and requires a finite number. diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp index 3752ba0b8b..cbb98a47bf 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp @@ -53,7 +53,7 @@ #include #include #include -#include +#include #include struct ekf_reset_counters_s { diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp index c13035f363..942165a8b8 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp @@ -38,7 +38,7 @@ #include "FlightTaskManualAltitude.hpp" #include #include -#include +#include using namespace matrix; diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp index 1993231fa5..089d83154a 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp @@ -38,7 +38,7 @@ #include "FlightTaskOrbit.hpp" #include -#include +#include using namespace matrix; diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp index d9c056a9ae..e5a7af4252 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp @@ -37,7 +37,7 @@ #include "StickAccelerationXY.hpp" -#include +#include #include "Sticks.hpp" using namespace matrix; diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp index fc5ac68a21..5adb4088e8 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp @@ -36,7 +36,7 @@ #include "ecl_roll_controller.h" #include "ecl_wheel_controller.h" #include "ecl_yaw_controller.h" -#include +#include #include #include #include diff --git a/src/modules/fw_att_control/ecl_pitch_controller.cpp b/src/modules/fw_att_control/ecl_pitch_controller.cpp index 47890efaf1..5b83297bcd 100644 --- a/src/modules/fw_att_control/ecl_pitch_controller.cpp +++ b/src/modules/fw_att_control/ecl_pitch_controller.cpp @@ -40,7 +40,7 @@ #include "ecl_pitch_controller.h" #include -#include +#include #include float ECL_PitchController::control_attitude(const float dt, const ECL_ControlData &ctl_data) diff --git a/src/modules/fw_att_control/ecl_roll_controller.cpp b/src/modules/fw_att_control/ecl_roll_controller.cpp index 9bc44b76aa..6daa8b3761 100644 --- a/src/modules/fw_att_control/ecl_roll_controller.cpp +++ b/src/modules/fw_att_control/ecl_roll_controller.cpp @@ -40,7 +40,7 @@ #include "ecl_roll_controller.h" #include -#include +#include #include float ECL_RollController::control_attitude(const float dt, const ECL_ControlData &ctl_data) diff --git a/src/modules/fw_att_control/ecl_wheel_controller.cpp b/src/modules/fw_att_control/ecl_wheel_controller.cpp index 7653e26edf..6220aef428 100644 --- a/src/modules/fw_att_control/ecl_wheel_controller.cpp +++ b/src/modules/fw_att_control/ecl_wheel_controller.cpp @@ -40,7 +40,7 @@ #include "ecl_wheel_controller.h" #include -#include +#include #include #include diff --git a/src/modules/fw_att_control/ecl_yaw_controller.cpp b/src/modules/fw_att_control/ecl_yaw_controller.cpp index f848866abd..18eb629b1b 100644 --- a/src/modules/fw_att_control/ecl_yaw_controller.cpp +++ b/src/modules/fw_att_control/ecl_yaw_controller.cpp @@ -40,7 +40,7 @@ #include "ecl_yaw_controller.h" #include -#include +#include #include float ECL_YawController::control_attitude(const float dt, const ECL_ControlData &ctl_data) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp index b2f84e28e4..ad6b833e95 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp @@ -54,7 +54,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/gyro_calibration/GyroCalibration.cpp b/src/modules/gyro_calibration/GyroCalibration.cpp index bac07331a4..673a7a7a50 100644 --- a/src/modules/gyro_calibration/GyroCalibration.cpp +++ b/src/modules/gyro_calibration/GyroCalibration.cpp @@ -33,7 +33,7 @@ #include "GyroCalibration.hpp" -#include +#include using namespace time_literals; using matrix::Vector3f; diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp index 597d0e8e22..9d1af11e96 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp @@ -5,7 +5,7 @@ #include #include #include -#include +#include #include #include diff --git a/src/modules/local_position_estimator/CMakeLists.txt b/src/modules/local_position_estimator/CMakeLists.txt index 3fbc213e06..aafaecdef0 100644 --- a/src/modules/local_position_estimator/CMakeLists.txt +++ b/src/modules/local_position_estimator/CMakeLists.txt @@ -49,6 +49,6 @@ px4_add_module( sensors/landing_target.cpp DEPENDS controllib - ecl_geo + geo px4_work_queue ) diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt index 4e256b2864..f7ab2e744c 100644 --- a/src/modules/mavlink/CMakeLists.txt +++ b/src/modules/mavlink/CMakeLists.txt @@ -72,7 +72,7 @@ px4_add_module( drivers_magnetometer git_mavlink_v2 conversion - ecl_geo + geo version UNITY_BUILD ) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 4a26e52db2..551d5f30e2 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -49,7 +49,7 @@ #endif #include -#include +#include #include #include #include diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index dbfd97cdaf..1ff58e5b8a 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -46,7 +46,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 2ee5dfa2e2..c910feda7c 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -43,7 +43,7 @@ #include "mavlink_mission.h" #include "mavlink_main.h" -#include +#include #include #include #include diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 38a4c52a5d..4261617497 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -43,7 +43,7 @@ #include #include #include -#include +#include #include #include diff --git a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp index 695391015a..b04cbecf26 100644 --- a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp +++ b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp @@ -34,7 +34,7 @@ #ifndef HIGH_LATENCY2_HPP #define HIGH_LATENCY2_HPP -#include +#include #include #include diff --git a/src/modules/mavlink/streams/SCALED_IMU.hpp b/src/modules/mavlink/streams/SCALED_IMU.hpp index efee6f369e..7b81d44a78 100644 --- a/src/modules/mavlink/streams/SCALED_IMU.hpp +++ b/src/modules/mavlink/streams/SCALED_IMU.hpp @@ -34,7 +34,7 @@ #ifndef SCALED_IMU_HPP #define SCALED_IMU_HPP -#include +#include #include #include diff --git a/src/modules/mavlink/streams/SCALED_IMU2.hpp b/src/modules/mavlink/streams/SCALED_IMU2.hpp index d6775bf329..ab45751665 100644 --- a/src/modules/mavlink/streams/SCALED_IMU2.hpp +++ b/src/modules/mavlink/streams/SCALED_IMU2.hpp @@ -34,7 +34,7 @@ #ifndef SCALED_IMU2_HPP #define SCALED_IMU2_HPP -#include +#include #include #include diff --git a/src/modules/mavlink/streams/SCALED_IMU3.hpp b/src/modules/mavlink/streams/SCALED_IMU3.hpp index ea26548313..5512b10cb3 100644 --- a/src/modules/mavlink/streams/SCALED_IMU3.hpp +++ b/src/modules/mavlink/streams/SCALED_IMU3.hpp @@ -34,7 +34,7 @@ #ifndef SCALED_IMU3_HPP #define SCALED_IMU3_HPP -#include +#include #include #include diff --git a/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.hpp b/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.hpp index 51672d0cff..43d4a173a5 100644 --- a/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.hpp +++ b/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.hpp @@ -64,7 +64,7 @@ #pragma once #include -#include +#include #include class ZeroOrderHoverThrustEkf diff --git a/src/modules/mc_pos_control/CMakeLists.txt b/src/modules/mc_pos_control/CMakeLists.txt index 323674aff2..49f61ac967 100644 --- a/src/modules/mc_pos_control/CMakeLists.txt +++ b/src/modules/mc_pos_control/CMakeLists.txt @@ -45,6 +45,6 @@ px4_add_module( PositionControl Takeoff controllib - ecl_geo + geo SlewRate ) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index caca1c85a4..fa36896cb6 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -40,7 +40,7 @@ #include #include #include -#include +#include using namespace matrix; diff --git a/src/modules/mc_pos_control/Takeoff/Takeoff.cpp b/src/modules/mc_pos_control/Takeoff/Takeoff.cpp index 3717106e17..1a33377b40 100644 --- a/src/modules/mc_pos_control/Takeoff/Takeoff.cpp +++ b/src/modules/mc_pos_control/Takeoff/Takeoff.cpp @@ -37,7 +37,7 @@ #include "Takeoff.hpp" #include -#include +#include void Takeoff::generateInitialRampValue(float velocity_p_gain) { diff --git a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp index c3262338ac..865514dc98 100644 --- a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp +++ b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp @@ -34,7 +34,7 @@ #include #include #include -#include +#include TEST(TakeoffTest, Initialization) { diff --git a/src/modules/navigator/CMakeLists.txt b/src/modules/navigator/CMakeLists.txt index 54499d7c88..0e1f91bdbf 100644 --- a/src/modules/navigator/CMakeLists.txt +++ b/src/modules/navigator/CMakeLists.txt @@ -52,7 +52,7 @@ px4_add_module( gpsfailure.cpp follow_target.cpp DEPENDS - ecl_geo + geo landing_slope geofence_breach_avoidance motion_planning diff --git a/src/modules/navigator/GeofenceBreachAvoidance/CMakeLists.txt b/src/modules/navigator/GeofenceBreachAvoidance/CMakeLists.txt index 0696dbca54..7be0cfc4ca 100644 --- a/src/modules/navigator/GeofenceBreachAvoidance/CMakeLists.txt +++ b/src/modules/navigator/GeofenceBreachAvoidance/CMakeLists.txt @@ -36,4 +36,4 @@ px4_add_library(geofence_breach_avoidance geofence_breach_avoidance.h ) -px4_add_functional_gtest(SRC GeofenceBreachAvoidanceTest.cpp LINKLIBS geofence_breach_avoidance modules__navigator ecl_geo motion_planning) +px4_add_functional_gtest(SRC GeofenceBreachAvoidanceTest.cpp LINKLIBS geofence_breach_avoidance modules__navigator motion_planning) diff --git a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp index c965e6fbcb..f54c1a6a88 100644 --- a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp +++ b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp @@ -32,7 +32,7 @@ ****************************************************************************/ #include "geofence_breach_avoidance.h" -#include +#include #include using Vector2d = matrix::Vector2; diff --git a/src/modules/navigator/enginefailure.cpp b/src/modules/navigator/enginefailure.cpp index dcec92cac7..5ad8d966ee 100644 --- a/src/modules/navigator/enginefailure.cpp +++ b/src/modules/navigator/enginefailure.cpp @@ -43,7 +43,7 @@ #include #include -#include +#include #include #include diff --git a/src/modules/navigator/follow_target.cpp b/src/modules/navigator/follow_target.cpp index 8e94ab81b4..64479dbc27 100644 --- a/src/modules/navigator/follow_target.cpp +++ b/src/modules/navigator/follow_target.cpp @@ -51,7 +51,7 @@ #include #include #include -#include +#include #include #include "navigator.h" diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 6f4d608cb7..163107c3c5 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include #include "navigator.h" diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 34a5ff671f..e492e2219c 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -45,7 +45,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp index a475ae5dfd..da237ad5b3 100644 --- a/src/modules/navigator/gpsfailure.cpp +++ b/src/modules/navigator/gpsfailure.cpp @@ -41,7 +41,7 @@ #include "navigator.h" #include -#include +#include #include #include #include diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 4cceebb310..389aa795a2 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -53,7 +53,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 7c768990cc..ec69ea8893 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -46,7 +46,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 053ea9894d..c3b6149747 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -46,7 +46,7 @@ #include "navigator.h" #include -#include +#include #include #include #include diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 24160fbb39..c0051a0929 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -50,7 +50,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/navigator/precland.h b/src/modules/navigator/precland.h index 1246e3099d..3f88060446 100644 --- a/src/modules/navigator/precland.h +++ b/src/modules/navigator/precland.h @@ -41,7 +41,7 @@ #pragma once #include -#include +#include #include #include #include diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 63b9e54039..adcd050d34 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -45,7 +45,7 @@ #include #include -#include +#include static constexpr float DELAY_SIGMA = 0.01f; diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index d7cb01028a..1217f9b25b 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -52,7 +52,7 @@ #include #include #include -#include +#include class Navigator; diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp index eac2e898ca..f45ac9e189 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.cpp +++ b/src/modules/rover_pos_control/RoverPositionControl.cpp @@ -43,7 +43,7 @@ #include "RoverPositionControl.hpp" -#include +#include #define ACTUATOR_PUBLISH_PERIOD_MS 4 diff --git a/src/modules/rover_pos_control/RoverPositionControl.hpp b/src/modules/rover_pos_control/RoverPositionControl.hpp index 4be4536773..146d3e8a10 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.hpp +++ b/src/modules/rover_pos_control/RoverPositionControl.hpp @@ -44,7 +44,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index 0c6bdcfef4..dc515971c7 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -34,7 +34,7 @@ #include "VehicleAirData.hpp" #include -#include +#include namespace sensors { diff --git a/src/modules/sensors/vehicle_gps_position/CMakeLists.txt b/src/modules/sensors/vehicle_gps_position/CMakeLists.txt index ab5be009fd..eb1aeb461b 100644 --- a/src/modules/sensors/vehicle_gps_position/CMakeLists.txt +++ b/src/modules/sensors/vehicle_gps_position/CMakeLists.txt @@ -37,6 +37,10 @@ px4_add_library(vehicle_gps_position gps_blending.cpp gps_blending.hpp ) -target_link_libraries(vehicle_gps_position PRIVATE ecl_geo px4_work_queue) +target_link_libraries(vehicle_gps_position + PRIVATE + geo + px4_work_queue +) -px4_add_functional_gtest(SRC gps_blending_test.cpp LINKLIBS vehicle_gps_position ecl_geo) +px4_add_functional_gtest(SRC gps_blending_test.cpp LINKLIBS vehicle_gps_position) diff --git a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp index dfd703c3a8..9f65125ef4 100644 --- a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp +++ b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp @@ -34,7 +34,7 @@ #include "VehicleGPSPosition.hpp" #include -#include +#include #include namespace sensors diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending.hpp b/src/modules/sensors/vehicle_gps_position/gps_blending.hpp index e137dd9324..fa52806632 100644 --- a/src/modules/sensors/vehicle_gps_position/gps_blending.hpp +++ b/src/modules/sensors/vehicle_gps_position/gps_blending.hpp @@ -43,7 +43,7 @@ #include #include -#include +#include #include using matrix::Vector2f; diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp index 9ce0a13f0f..4457d04413 100644 --- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp +++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp @@ -34,7 +34,7 @@ #include "VehicleMagnetometer.hpp" #include -#include +#include namespace sensors { diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index 794fb796c5..77f0163f7b 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -40,7 +40,7 @@ #include "voted_sensors_update.h" #include -#include +#include #include #include diff --git a/src/modules/sih/sih.hpp b/src/modules/sih/sih.hpp index 2b6e4779fd..87bbd3ee0e 100644 --- a/src/modules/sih/sih.hpp +++ b/src/modules/sih/sih.hpp @@ -40,7 +40,7 @@ #include // matrix, vectors, dcm, quaterions #include // math::radians, -#include // to get the physical constants +#include // to get the physical constants #include // to get the real time #include #include diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt index 8a3eb93fe9..127ad6154b 100644 --- a/src/modules/simulator/CMakeLists.txt +++ b/src/modules/simulator/CMakeLists.txt @@ -67,7 +67,7 @@ px4_add_module( DEPENDS git_mavlink_v2 conversion - ecl_geo + geo drivers_accelerometer drivers_barometer drivers_gyroscope diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h index 7de8eb6a1d..5e90ad7bab 100644 --- a/src/modules/simulator/simulator.h +++ b/src/modules/simulator/simulator.h @@ -48,7 +48,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 1dc01db12a..dad520015e 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -39,7 +39,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/modules/uuv_att_control/uuv_att_control.hpp b/src/modules/uuv_att_control/uuv_att_control.hpp index 6bccfea680..095bc80502 100644 --- a/src/modules/uuv_att_control/uuv_att_control.hpp +++ b/src/modules/uuv_att_control/uuv_att_control.hpp @@ -46,7 +46,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/uuv_pos_control/uuv_pos_control.hpp b/src/modules/uuv_pos_control/uuv_pos_control.hpp index e78acc03d2..f084339e0a 100644 --- a/src/modules/uuv_pos_control/uuv_pos_control.hpp +++ b/src/modules/uuv_pos_control/uuv_pos_control.hpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/modules/vmount/CMakeLists.txt b/src/modules/vmount/CMakeLists.txt index 50f67f3fa6..a24e2141a7 100644 --- a/src/modules/vmount/CMakeLists.txt +++ b/src/modules/vmount/CMakeLists.txt @@ -44,6 +44,6 @@ px4_add_module( output_rc.cpp vmount.cpp DEPENDS - ecl_geo + geo ) diff --git a/src/modules/vmount/input_mavlink.h b/src/modules/vmount/input_mavlink.h index dfe491d792..4c0a165ccc 100644 --- a/src/modules/vmount/input_mavlink.h +++ b/src/modules/vmount/input_mavlink.h @@ -51,7 +51,7 @@ #include #include #include -#include +#include namespace vmount diff --git a/src/modules/vmount/output.cpp b/src/modules/vmount/output.cpp index 913274aad0..cc979a4bca 100644 --- a/src/modules/vmount/output.cpp +++ b/src/modules/vmount/output.cpp @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/modules/vmount/output.h b/src/modules/vmount/output.h index 21e6f09275..23513d498a 100644 --- a/src/modules/vmount/output.h +++ b/src/modules/vmount/output.h @@ -41,7 +41,7 @@ #include "common.h" #include -#include +#include #include #include #include diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h index 46c8455858..592c96dc7f 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.h +++ b/src/modules/vtol_att_control/vtol_att_control_main.h @@ -51,7 +51,7 @@ #include #include -#include +#include #include #include #include