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Adapted for sharded library use with ROS. Problems to solve: error library from PX4 does not work yet. math functions such as isfinite need to be shared as well. performance library needs to be shared as well (commented for now)

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This commit is contained in:
Roman Bapst
2014-09-24 08:52:28 +02:00
parent 475f9a594b
commit 0553771f4f
1 changed files with 11 additions and 4 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+11 -4
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@@ -45,7 +45,14 @@
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#ifdef CONFIG_ARCH_ARM
#include <systemlib/err.h>
#else
#include<ros_error.h>
#include <cmath>
#define isfinite std::isfinite
#endif
ECL_PitchController::ECL_PitchController() :
_last_run(0),
@@ -61,8 +68,8 @@ ECL_PitchController::ECL_PitchController() :
_integrator(0.0f),
_rate_error(0.0f),
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input"))
_bodyrate_setpoint(0.0f)
//_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input"))
{
}
@@ -75,7 +82,7 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
{
/* Do not calculate control signal with bad inputs */
if (!(isfinite(pitch_setpoint) && isfinite(roll) && isfinite(pitch) && isfinite(airspeed))) {
perf_count(_nonfinite_input_perf);
//perf_count(_nonfinite_input_perf);
warnx("not controlling pitch");
return _rate_setpoint;
}
@@ -138,7 +145,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) &&
isfinite(airspeed_max) && isfinite(scaler))) {
perf_count(_nonfinite_input_perf);
//perf_count(_nonfinite_input_perf);
return math::constrain(_last_output, -1.0f, 1.0f);
}