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Merge pull request #453 from PX4/gcc_47

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GCC 4.7.4 compatibility
This commit is contained in:
Lorenz Meier
2013-10-13 03:12:17 -07:00
parent db4ff7f080 42c412f6dd
commit 062ba0acab
5 changed files with 63 additions and 39 deletions
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makefiles/config_px4fmu-v1_default.mk
+4 -1
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@@ -134,7 +134,10 @@ MODULES += lib/geo
# Tutorial code from # Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control # https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
MODULES += examples/fixedwing_control #MODULES += examples/fixedwing_control
# Hardware test
#MODULES += examples/hwtest
# #
# Transitional support - add commands from the NuttX export archive. # Transitional support - add commands from the NuttX export archive.
makefiles/config_px4fmu-v2_default.mk
+5 -1
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@@ -128,8 +128,12 @@ MODULES += lib/geo
# https://pixhawk.ethz.ch/px4/dev/debug_values # https://pixhawk.ethz.ch/px4/dev/debug_values
#MODULES += examples/px4_mavlink_debug #MODULES += examples/px4_mavlink_debug
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test # Hardware test
MODULES += examples/hwtest #MODULES += examples/hwtest
# #
# Transitional support - add commands from the NuttX export archive. # Transitional support - add commands from the NuttX export archive.
src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+13 -13
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@@ -166,19 +166,19 @@ protected:
double lat, lon; /**< lat, lon radians */ double lat, lon; /**< lat, lon radians */
float alt; /**< altitude, meters */ float alt; /**< altitude, meters */
// parameters // parameters
control::BlockParam<float> _vGyro; /**< gyro process noise */ control::BlockParamFloat _vGyro; /**< gyro process noise */
control::BlockParam<float> _vAccel; /**< accelerometer process noise */ control::BlockParamFloat _vAccel; /**< accelerometer process noise */
control::BlockParam<float> _rMag; /**< magnetometer measurement noise */ control::BlockParamFloat _rMag; /**< magnetometer measurement noise */
control::BlockParam<float> _rGpsVel; /**< gps velocity measurement noise */ control::BlockParamFloat _rGpsVel; /**< gps velocity measurement noise */
control::BlockParam<float> _rGpsPos; /**< gps position measurement noise */ control::BlockParamFloat _rGpsPos; /**< gps position measurement noise */
control::BlockParam<float> _rGpsAlt; /**< gps altitude measurement noise */ control::BlockParamFloat _rGpsAlt; /**< gps altitude measurement noise */
control::BlockParam<float> _rPressAlt; /**< press altitude measurement noise */ control::BlockParamFloat _rPressAlt; /**< press altitude measurement noise */
control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */ control::BlockParamFloat _rAccel; /**< accelerometer measurement noise */
control::BlockParam<float> _magDip; /**< magnetic inclination with level */ control::BlockParamFloat _magDip; /**< magnetic inclination with level */
control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */ control::BlockParamFloat _magDec; /**< magnetic declination, clockwise rotation */
control::BlockParam<float> _g; /**< gravitational constant */ control::BlockParamFloat _g; /**< gravitational constant */
control::BlockParam<float> _faultPos; /**< fault detection threshold for position */ control::BlockParamFloat _faultPos; /**< fault detection threshold for position */
control::BlockParam<float> _faultAtt; /**< fault detection threshold for attitude */ control::BlockParamFloat _faultAtt; /**< fault detection threshold for attitude */
// status // status
bool _attitudeInitialized; bool _attitudeInitialized;
bool _positionInitialized; bool _positionInitialized;
src/modules/controllib/block/BlockParam.hpp
+23 -6
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@@ -69,22 +69,39 @@ protected:
/** /**
* Parameters that are tied to blocks for updating and nameing. * Parameters that are tied to blocks for updating and nameing.
*/ */
template<class T>
class __EXPORT BlockParam : public BlockParamBase class __EXPORT BlockParamFloat : public BlockParamBase
{ {
public: public:
BlockParam(Block *block, const char *name, bool parent_prefix=true) : BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix), BlockParamBase(block, name, parent_prefix),
_val() { _val() {
update(); update();
} }
T get() { return _val; } float get() { return _val; }
void set(T val) { _val = val; } void set(float val) { _val = val; }
void update() { void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val); if (_handle != PARAM_INVALID) param_get(_handle, &_val);
} }
protected: protected:
T _val; float _val;
};
class __EXPORT BlockParamInt : public BlockParamBase
{
public:
BlockParamInt(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
int get() { return _val; }
void set(int val) { _val = val; }
void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
protected:
int _val;
}; };
} // namespace control } // namespace control
src/modules/controllib/blocks.hpp
+18 -18
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@@ -74,8 +74,8 @@ public:
float getMax() { return _max.get(); } float getMax() { return _max.get(); }
protected: protected:
// attributes // attributes
BlockParam<float> _min; control::BlockParamFloat _min;
BlockParam<float> _max; control::BlockParamFloat _max;
}; };
int __EXPORT blockLimitTest(); int __EXPORT blockLimitTest();
@@ -99,7 +99,7 @@ public:
float getMax() { return _max.get(); } float getMax() { return _max.get(); }
protected: protected:
// attributes // attributes
BlockParam<float> _max; control::BlockParamFloat _max;
}; };
int __EXPORT blockLimitSymTest(); int __EXPORT blockLimitSymTest();
@@ -126,7 +126,7 @@ public:
protected: protected:
// attributes // attributes
float _state; float _state;
BlockParam<float> _fCut; control::BlockParamFloat _fCut;
}; };
int __EXPORT blockLowPassTest(); int __EXPORT blockLowPassTest();
@@ -157,7 +157,7 @@ protected:
// attributes // attributes
float _u; /**< previous input */ float _u; /**< previous input */
float _y; /**< previous output */ float _y; /**< previous output */
BlockParam<float> _fCut; /**< cut-off frequency, Hz */ control::BlockParamFloat _fCut; /**< cut-off frequency, Hz */
}; };
int __EXPORT blockHighPassTest(); int __EXPORT blockHighPassTest();
@@ -273,7 +273,7 @@ public:
// accessors // accessors
float getKP() { return _kP.get(); } float getKP() { return _kP.get(); }
protected: protected:
BlockParam<float> _kP; control::BlockParamFloat _kP;
}; };
int __EXPORT blockPTest(); int __EXPORT blockPTest();
@@ -303,8 +303,8 @@ public:
BlockIntegral &getIntegral() { return _integral; } BlockIntegral &getIntegral() { return _integral; }
private: private:
BlockIntegral _integral; BlockIntegral _integral;
BlockParam<float> _kP; control::BlockParamFloat _kP;
BlockParam<float> _kI; control::BlockParamFloat _kI;
}; };
int __EXPORT blockPITest(); int __EXPORT blockPITest();
@@ -334,8 +334,8 @@ public:
BlockDerivative &getDerivative() { return _derivative; } BlockDerivative &getDerivative() { return _derivative; }
private: private:
BlockDerivative _derivative; BlockDerivative _derivative;
BlockParam<float> _kP; control::BlockParamFloat _kP;
BlockParam<float> _kD; control::BlockParamFloat _kD;
}; };
int __EXPORT blockPDTest(); int __EXPORT blockPDTest();
@@ -372,9 +372,9 @@ private:
// attributes // attributes
BlockIntegral _integral; BlockIntegral _integral;
BlockDerivative _derivative; BlockDerivative _derivative;
BlockParam<float> _kP; control::BlockParamFloat _kP;
BlockParam<float> _kI; control::BlockParamFloat _kI;
BlockParam<float> _kD; control::BlockParamFloat _kD;
}; };
int __EXPORT blockPIDTest(); int __EXPORT blockPIDTest();
@@ -404,7 +404,7 @@ public:
float get() { return _val; } float get() { return _val; }
private: private:
// attributes // attributes
BlockParam<float> _trim; control::BlockParamFloat _trim;
BlockLimit _limit; BlockLimit _limit;
float _val; float _val;
}; };
@@ -439,8 +439,8 @@ public:
float getMax() { return _max.get(); } float getMax() { return _max.get(); }
private: private:
// attributes // attributes
BlockParam<float> _min; control::BlockParamFloat _min;
BlockParam<float> _max; control::BlockParamFloat _max;
}; };
int __EXPORT blockRandUniformTest(); int __EXPORT blockRandUniformTest();
@@ -486,8 +486,8 @@ public:
float getStdDev() { return _stdDev.get(); } float getStdDev() { return _stdDev.get(); }
private: private:
// attributes // attributes
BlockParam<float> _mean; control::BlockParamFloat _mean;
BlockParam<float> _stdDev; control::BlockParamFloat _stdDev;
}; };
int __EXPORT blockRandGaussTest(); int __EXPORT blockRandGaussTest();