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Fix dependency problem to outlier filters #1270

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Merged
merged 2 commits into from
Apr 18, 2023
Merged

Fix dependency problem to outlier filters #1270

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9efb0eb
Moved outlier filters to new folder
krichardsson Apr 18, 2023
8928394
Only build outlier filters when required
krichardsson Apr 18, 2023
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2 changes: 1 addition & 1 deletion Makefile
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Expand Up @@ -51,7 +51,7 @@ INCLUDES += -I$(srctree)/src/deck/interface -I$(srctree)/src/deck/drivers/interf
INCLUDES += -I$(srctree)/src/drivers/interface -I$(srctree)/src/drivers/bosch/interface
INCLUDES += -I$(srctree)/src/drivers/esp32/interface
INCLUDES += -I$(srctree)/src/hal/interface
INCLUDES += -I$(srctree)/src/modules/interface -I$(srctree)/src/modules/interface/kalman_core -I$(srctree)/src/modules/interface/lighthouse
INCLUDES += -I$(srctree)/src/modules/interface -I$(srctree)/src/modules/interface/kalman_core -I$(srctree)/src/modules/interface/lighthouse -I$(srctree)/src/modules/interface/outlierfilter
INCLUDES += -I$(srctree)/src/modules/interface/cpx -I$(srctree)/src/modules/interface/p2pDTR -I$(srctree)/src/modules/interface/controller -I$(srctree)/src/modules/interface/estimator
INCLUDES += -I$(srctree)/src/utils/interface -I$(srctree)/src/utils/interface/kve -I$(srctree)/src/utils/interface/lighthouse -I$(srctree)/src/utils/interface/tdoa
INCLUDES += -I$(LIB)/FatFS
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0 ...ace/kalman_core/outlierFilterLighthouse.h → ...e/outlierfilter/outlierFilterLighthouse.h
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0 ...interface/kalman_core/outlierFilterTdoa.h → ...terface/outlierfilter/outlierFilterTdoa.h
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0 ...face/kalman_core/outlierFilterTdoaSteps.h → ...ce/outlierfilter/outlierFilterTdoaSteps.h
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1 change: 1 addition & 0 deletions src/modules/src/Kbuild
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Expand Up @@ -54,3 +54,4 @@ obj-y += controller/
obj-y += estimator/
obj-y += cpx/
obj-y += p2pDTR/
obj-y += outlierfilter/
7 changes: 7 additions & 0 deletions src/modules/src/Kconfig
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Expand Up @@ -50,6 +50,7 @@ config CONTROLLER_OOT
config ESTIMATOR_KALMAN_ENABLE
bool "Enable Kalman Estimator"
default y
select ESTIMATOR_OUTLIER_FILTERS
help
Enable the Kalman (EKF) estimator.

Expand All @@ -62,10 +63,16 @@ config ESTIMATOR_KALMAN_TDOA_OUTLIERFILTER_FALLBACK

config ESTIMATOR_UKF_ENABLE
bool "Enable error-state UKF estimator"
select ESTIMATOR_OUTLIER_FILTERS
default n
help
Enable the (error-state unscented) Kalman filter (UKF) estimator

config ESTIMATOR_OUTLIER_FILTERS
bool
help
Include outlier filters for estimators

choice
prompt "Default estimator"
default CONFIG_ESTIMATOR_AUTO_SELECT
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3 changes: 0 additions & 3 deletions src/modules/src/kalman_core/Kbuild
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Expand Up @@ -10,6 +10,3 @@ obj-y += mm_tdoa.o
obj-y += mm_tdoa_robust.o
obj-y += mm_tof.o
obj-y += mm_yaw_error.o
obj-y += outlierFilterTdoa.o
obj-$(CONFIG_ESTIMATOR_KALMAN_TDOA_OUTLIERFILTER_FALLBACK) += outlierFilterTdoaSteps.o
obj-y += outlierFilterLighthouse.o
3 changes: 3 additions & 0 deletions src/modules/src/outlierfilter/Kbuild
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@@ -0,0 +1,3 @@
obj-$(CONFIG_ESTIMATOR_OUTLIER_FILTERS) += outlierFilterTdoa.o
obj-$(CONFIG_ESTIMATOR_KALMAN_TDOA_OUTLIERFILTER_FALLBACK) += outlierFilterTdoaSteps.o
obj-$(CONFIG_ESTIMATOR_OUTLIER_FILTERS) += outlierFilterLighthouse.o
0 ...src/kalman_core/outlierFilterLighthouse.c → ...c/outlierfilter/outlierFilterLighthouse.c
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0 ...dules/src/kalman_core/outlierFilterTdoa.c → ...les/src/outlierfilter/outlierFilterTdoa.c
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0 .../src/kalman_core/outlierFilterTdoaSteps.c → ...rc/outlierfilter/outlierFilterTdoaSteps.c
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0 ...man_core/test_outlier_filter_lighthouse.c → ...lierfilter/test_outlierFilterLighthouse.c
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4 changes: 3 additions & 1 deletion tools/test/gcc.yml
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Expand Up @@ -52,10 +52,12 @@ compiler:
- 'src/modules/interface/lighthouse/'
- 'src/modules/interface/estimator/'
- 'src/modules/interface/controller/'
- 'src/modules/interface/outlierfilter/'
- 'src/modules/src/'
- 'src/modules/src/kalman_core/'
- 'src/modules/src/lighthouse/'
- 'src/platform/interface/'
- 'src/modules/src/outlierfilter/'
- 'src/platform/interface/'
- 'src/platform/src/'
- 'src/utils/interface/'
- 'src/utils/interface/lighthouse/'
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