CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutSign UpSign In
Ardupilot

Real-time collaboration for Jupyter Notebooks, Linux Terminals, LaTeX, VS Code, R IDE, and more,
all in one place. Commercial Alternative to JupyterHub.

GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp
Views: 1800
1
//

2
// Ensure that AP_NavEKF libraries can be compiled when not linked to

3
// anything except the DAL.

4
//

5


6
#include <AP_DAL/AP_DAL.h>

7
#include <AP_NavEKF2/AP_NavEKF2.h>

8
#include <AP_NavEKF3/AP_NavEKF3.h>

9
#include <AP_Logger/AP_Logger.h>

10


11
void AP_Param::setup_object_defaults(void const*, AP_Param::GroupInfo const*) {}

12


13
template<typename T, ap_var_type PT>

14
void AP_ParamT<T, PT>::set_and_default(const T &v) {}

15
template class AP_ParamT<int8_t, AP_PARAM_INT8>;

16


17


18
int AP_HAL::Util::vsnprintf(char*, size_t, char const*, va_list) { return -1; }

19


20
void *nologger = nullptr;

21
AP_Logger &AP::logger() {

22
    return *((AP_Logger*)nologger);  // this is not usually a good idea...

23
}

24
void AP_Logger::WriteBlock(void const*, unsigned short) {}

25


26
class AP_HAL_DAL_Standalone : public AP_HAL::HAL {

27
public:

28
    AP_HAL_DAL_Standalone() :

29
        AP_HAL::HAL(

30
            nullptr,

31
            nullptr,

32
            nullptr,

33
            nullptr,

34
            nullptr,

35
            nullptr,

36
            nullptr,

37
            nullptr,

38
            nullptr,

39
            nullptr,

40
            nullptr,

41
            nullptr,

42
            nullptr,

43
            nullptr,

44
            nullptr,

45
            nullptr,

46
            nullptr,

47
            nullptr,

48
            nullptr,

49
            nullptr,

50
            nullptr,

51
            nullptr,

52
            nullptr,

53
            nullptr,

54
            nullptr

55
            ) {}

56
    void run(int argc, char* const argv[], Callbacks* callbacks) const override {}

57
    void setup() { }

58
    void loop() { }

59
};

60


61
AP_HAL_DAL_Standalone _hal;

62
const AP_HAL::HAL &hal = _hal;

63


64
NavEKF2 navekf2;

65
NavEKF3 navekf3;

66


67
int main(int argc, const char *argv[])

68
{

69
    navekf2.InitialiseFilter();

70
    navekf3.InitialiseFilter();

71
    navekf2.UpdateFilter();

72
    navekf3.UpdateFilter();

73
    return navekf2.healthy() && navekf3.healthy()?0:1;

74
}

75


76