Added ability to not link with FATFS

cuspaceflight · Jan 29, 2017 · 5de2c23 · 5de2c23
1 parent 7677433
commit 5de2c23
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Showing 6 changed files with 10 additions and 3 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -40,7 +40,7 @@ else()
     message(FATAL_ERROR "Platform not supported")
 endif ()
 
-if (SPALAX_BUILD_FIRMWARE)
+if (BUILD_FATFS)
     add_subdirectory(external/fatfs-cmake)
 endif()
 

diff --git a/cmake/m3imu.cmake b/cmake/m3imu.cmake
@@ -8,4 +8,6 @@ include(gcc_stm32)
 
 set(BUILD_SHARED_LIBS OFF)
 
+set(BUILD_FATFS OFF)
+
 ADD_DEFINITIONS(-DCORTEX_USE_FPU=TRUE)
diff --git a/cmake/spalax.cmake b/cmake/spalax.cmake
@@ -7,5 +7,6 @@ set(STM32_CHIP "STM32F407VG")
 include(gcc_stm32)
 
 set(BUILD_SHARED_LIBS OFF)
+set(BUILD_FATFS ON)
 
 ADD_DEFINITIONS(-DCORTEX_USE_FPU=TRUE)
diff --git a/external/cusf-messaging b/external/cusf-messaging
diff --git a/firmware/src/main.c b/firmware/src/main.c
@@ -30,8 +30,10 @@ int main(void) {
 
     chThdCreateStatic(waBadThing, sizeof(waBadThing), NORMALPRIO, bthandler_thread, NULL);
 
+#if FILE_TELEMETRY_OUTPUT_ENABLED
     if (config->has_sdcard)
         file_telemetry_output_start("log.m3tel", false);
+#endif
 
     if (config->has_ms5611)
         chThdCreateStatic(waMS5611, sizeof(waMS5611), NORMALPRIO, ms5611_thread, NULL);

diff --git a/shared/src/state/quest.cpp b/shared/src/state/quest.cpp
@@ -62,7 +62,9 @@ bool try_estimate(const Eigen::Vector3f& v1, const Eigen::Vector3f& v2, const Ei
     return true;
 }
 
-// Based on paper at - http://arc.aiaa.org/doi/pdf/10.2514/3.19717
+// Based on papers at -
+// http://arc.aiaa.org/doi/pdf/10.2514/3.19717
+// http://malcolmdshuster.com/FC_MarkleyMortari_Girdwood_1999_AAS.pdf
 int quest_estimate(const float observations[2][3], const float references[2][3], const float a[2], float *q_out) {
     Eigen::Vector3f v1(references[0][0], references[0][1], references[0][2]);
     Eigen::Vector3f v2(references[1][0], references[1][1], references[1][2]);