From ba7f0fc9ffc028a8420cfaa1f8cc2b3cdf043e70 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 17 Feb 2016 20:02:08 -0800
Subject: [PATCH] EKF: add licensing information for mathlib header and src

---
 EKF/mathlib.cpp | 45 ++++++++++++++++++++++++++++++++++++++++++++-
 EKF/mathlib.h   | 40 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 84 insertions(+), 1 deletion(-)

diff --git a/EKF/mathlib.cpp b/EKF/mathlib.cpp
index 717520e489..7db1730553 100644
--- a/EKF/mathlib.cpp
+++ b/EKF/mathlib.cpp
@@ -1,5 +1,47 @@
+/****************************************************************************
+ *
+ *   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.cpp
+ *
+ * Definition of math namespace function for POSIX SHARED
+ *
+ * @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
+ */
 #include "mathlib.h"
 
+#ifdef POSIX_SHARED
+
 float math::constrain(float &val, float min, float max)
 {
 	return (val < min) ? min : ((val > max) ? max : val);
@@ -11,4 +53,5 @@ float math::radians(float degrees)
 float math::degrees(float radians)
 {
 	return (radians * 180.0f) / M_PI_F;
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file
diff --git a/EKF/mathlib.h b/EKF/mathlib.h
index 3b7baa6b7e..f20ce65111 100644
--- a/EKF/mathlib.h
+++ b/EKF/mathlib.h
@@ -1,3 +1,43 @@
+/****************************************************************************
+ *
+ *   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 POSIX_SHARED