You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
125 lines
3.6 KiB
125 lines
3.6 KiB
############################################################################ |
|
# |
|
# 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) |
|
|
|
execute_process( |
|
COMMAND git describe --always --tags |
|
OUTPUT_VARIABLE git_tag |
|
OUTPUT_STRIP_TRAILING_WHITESPACE |
|
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} |
|
) |
|
|
|
message(STATUS "PX4 ECL: Very lightweight Estimation & Control Library ${git_tag}") |
|
|
|
set(CMAKE_CXX_STANDARD 11) |
|
set(CMAKE_CXX_STANDARD_REQUIRED ON) |
|
set(CMAKE_EXPORT_COMPILE_COMMANDS ON) |
|
|
|
set(ECL_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}) |
|
|
|
if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR) |
|
# ECL standalone build |
|
add_definitions(-DECL_STANDALONE) |
|
set(ECL_STANDALONE 1) |
|
|
|
add_custom_target(prebuild_targets) |
|
|
|
if(MSVC) |
|
add_compile_options( |
|
/W4 |
|
/WX |
|
|
|
/D_USE_MATH_DEFINES |
|
|
|
/wd4100 # warning C4100: unreferenced formal parameter |
|
/wd4244 # warning C4244: '=': conversion from 'double' to 'int32_t', possible loss of data |
|
) |
|
elseif(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX) |
|
add_compile_options( |
|
-pedantic |
|
|
|
-Wall |
|
-Wextra |
|
-Werror |
|
|
|
-Wno-unused-parameter |
|
) |
|
endif() |
|
|
|
# fetch latest matrix from github |
|
include(ExternalProject) |
|
ExternalProject_Add(matrix |
|
GIT_REPOSITORY "https://github.com/PX4/Matrix.git" |
|
UPDATE_COMMAND "" |
|
PATCH_COMMAND "" |
|
CONFIGURE_COMMAND "" |
|
BUILD_COMMAND "" |
|
INSTALL_COMMAND "" |
|
) |
|
add_dependencies(prebuild_targets matrix) |
|
include_directories(${CMAKE_BINARY_DIR}/matrix-prefix/src/matrix) |
|
|
|
add_subdirectory(mathlib) |
|
|
|
include(CTest) |
|
enable_testing() |
|
|
|
if(BUILD_TESTING) |
|
|
|
add_custom_target(check |
|
COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -C Debug |
|
DEPENDS ecl_EKF |
|
USES_TERMINAL |
|
) |
|
|
|
option(EKF_PYTHON_TESTS "Build the EKF python tests" OFF) |
|
|
|
if (EKF_PYTHON_TESTS) |
|
# swig requires -fPIC |
|
set(CMAKE_POSITION_INDEPENDENT_CODE ON) |
|
endif() |
|
endif() |
|
|
|
endif() |
|
|
|
add_subdirectory(airdata) |
|
add_subdirectory(attitude_fw) |
|
add_subdirectory(EKF) |
|
add_subdirectory(geo) |
|
add_subdirectory(geo_lookup) |
|
add_subdirectory(l1) |
|
add_subdirectory(tecs) |
|
add_subdirectory(validation)
|
|
|