Add GPS integrity checks and GPS IMU ESKF fusion tools

2026-07-13 11:08:12 +03:00
parent 8260862854
commit 4edb665d52
50 changed files with 21581 additions and 14357 deletions
@@ -0,0 +1,24 @@
+CC ?= cc
+CFLAGS ?= -std=c11 -O2 -Wall -Wextra -Wpedantic
+CFLAGS += -I../../gps_system/header
+LDLIBS ?= -lm
+
+GPS_TIME_SOURCE := ../../gps_system/src/gps_time_anchor.c
+
+.PHONY: all test benchmark clean
+
+all: standalone_gps_integrity_test
+
+standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE)
+	$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
+
+test: standalone_gps_integrity_test
+	./standalone_gps_integrity_test
+
+benchmark: standalone_gps_integrity_test
+	./standalone_gps_integrity_test --bench-clean 100000
+	./standalone_gps_integrity_test --bench-single 100000
+	./standalone_gps_integrity_test --bench-double 100000
+
+clean:
+	rm -f standalone_gps_integrity_test standalone_gps_integrity_test_san standalone_gps_integrity_test_gprof gmon.out