############################################################################
#
#   Copyright (c) 2015-2018 ECL Development Team. All rights reserved.
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# modification, are permitted provided that the following conditions
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# 1. Redistributions of source code must retain the above copyright
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# 2. Redistributions in binary form must reproduce the above copyright
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#    the documentation and/or other materials provided with the
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############################################################################

add_library(ecl_EKF
	airspeed_fusion.cpp
	control.cpp
	covariance.cpp
	drag_fusion.cpp
	ekf.cpp
	ekf_helper.cpp
	estimator_interface.cpp
	gps_checks.cpp
	mag_fusion.cpp
	optflow_fusion.cpp
	sideslip_fusion.cpp
	terrain_estimator.cpp
	vel_pos_fusion.cpp
	gps_yaw_fusion.cpp
	range_finder_checks.cpp
)

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 ecl_geo_lookup mathlib)

set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h")

target_compile_options(ecl_EKF PRIVATE -fno-associative-math)

if(EKF_PYTHON_TESTS)
	add_subdirectory(swig)
endif()

if(BUILD_TESTING)
	add_subdirectory(tests)
endif()