diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt index a9396caa1f..6454c9e40c 100644 --- a/src/lib/CMakeLists.txt +++ b/src/lib/CMakeLists.txt @@ -72,6 +72,7 @@ add_subdirectory(rover_control EXCLUDE_FROM_ALL) add_subdirectory(rtl EXCLUDE_FROM_ALL) add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL) add_subdirectory(slew_rate EXCLUDE_FROM_ALL) +add_subdirectory(stick_yaw EXCLUDE_FROM_ALL) add_subdirectory(systemlib EXCLUDE_FROM_ALL) add_subdirectory(system_identification EXCLUDE_FROM_ALL) add_subdirectory(tecs EXCLUDE_FROM_ALL) diff --git a/src/lib/stick_yaw/CMakeLists.txt b/src/lib/stick_yaw/CMakeLists.txt new file mode 100644 index 0000000000..63e873c72f --- /dev/null +++ b/src/lib/stick_yaw/CMakeLists.txt @@ -0,0 +1,37 @@ +############################################################################ +# +# Copyright (c) 2019 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(StickYaw + StickYaw.cpp +) +target_include_directories(StickYaw PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp b/src/lib/stick_yaw/StickYaw.cpp similarity index 100% rename from src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp rename to src/lib/stick_yaw/StickYaw.cpp diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp b/src/lib/stick_yaw/StickYaw.hpp similarity index 100% rename from src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp rename to src/lib/stick_yaw/StickYaw.hpp diff --git a/src/modules/flight_mode_manager/tasks/Auto/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/Auto/CMakeLists.txt index 905e08e80b..fc43d98d27 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/CMakeLists.txt +++ b/src/modules/flight_mode_manager/tasks/Auto/CMakeLists.txt @@ -35,5 +35,5 @@ px4_add_library(FlightTaskAuto FlightTaskAuto.cpp ) -target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility WeatherVane) +target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility StickYaw WeatherVane) target_include_directories(FlightTaskAuto PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp index 6c49dd8726..8559580251 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp @@ -46,12 +46,12 @@ #include #include #include -#include #include #include +#include +#include #include "Sticks.hpp" #include "StickAccelerationXY.hpp" -#include "StickYaw.hpp" /** * This enum has to agree with position_setpoint_s type definition diff --git a/src/modules/flight_mode_manager/tasks/Descend/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/Descend/CMakeLists.txt index 416852123c..eada0139e0 100644 --- a/src/modules/flight_mode_manager/tasks/Descend/CMakeLists.txt +++ b/src/modules/flight_mode_manager/tasks/Descend/CMakeLists.txt @@ -35,5 +35,5 @@ px4_add_library(FlightTaskDescend FlightTaskDescend.cpp ) -target_link_libraries(FlightTaskDescend PUBLIC FlightTask FlightTaskUtility) +target_link_libraries(FlightTaskDescend PUBLIC FlightTask FlightTaskUtility StickYaw) target_include_directories(FlightTaskDescend PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.hpp b/src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.hpp index e341766104..6792e8fd12 100644 --- a/src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.hpp +++ b/src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.hpp @@ -37,10 +37,10 @@ #pragma once +#include #include "FlightTask.hpp" #include "Sticks.hpp" #include "StickTiltXY.hpp" -#include "StickYaw.hpp" class FlightTaskDescend : public FlightTask { diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp index ac19500236..56fefcc792 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp @@ -33,10 +33,9 @@ #pragma once +#include #include "FlightTaskManualAltitudeSmoothVel.hpp" #include "StickAccelerationXY.hpp" -#include "StickYaw.hpp" -#include class FlightTaskManualAcceleration : public FlightTaskManualAltitudeSmoothVel { diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/ManualAltitude/CMakeLists.txt index 271c69720d..65abdf871c 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitude/CMakeLists.txt +++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/CMakeLists.txt @@ -35,5 +35,5 @@ px4_add_library(FlightTaskManualAltitude FlightTaskManualAltitude.cpp ) -target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility) +target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility StickYaw) target_include_directories(FlightTaskManualAltitude PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp index 5370de28ff..8386dfedad 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp @@ -39,10 +39,10 @@ #pragma once +#include #include "FlightTask.hpp" #include "Sticks.hpp" #include "StickTiltXY.hpp" -#include "StickYaw.hpp" #include class FlightTaskManualAltitude : public FlightTask diff --git a/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt index 44a5e1dba1..f81a994452 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt +++ b/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt @@ -35,7 +35,6 @@ px4_add_library(FlightTaskUtility Sticks.cpp StickAccelerationXY.cpp StickTiltXY.cpp - StickYaw.cpp Gimbal.cpp )