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Linux: Added linker script support for param and added mc_att_control

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Added linker script to resolve __param_start and __param_end.

Added mc_att_control to list of supported builtins.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-03-24 16:30:45 -07:00
parent 977036faf9
commit 2cd44a24ea
8 changed files with 109 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+8 -7
View File
@@ -54,6 +54,7 @@
*/
#include <px4_config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -404,7 +405,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
@@ -721,7 +722,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
if (std::isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
_rates_int(i) = rate_i;
}
@@ -858,10 +859,10 @@ MulticopterAttitudeControl::task_main()
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.control[0] = (std::isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (std::isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (std::isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (std::isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _v_att.timestamp;
@@ -909,7 +910,7 @@ MulticopterAttitudeControl::start()
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1600,
(main_t)&MulticopterAttitudeControl::task_main_trampoline,
(px4_main_t)&MulticopterAttitudeControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
src/modules/systemlib/param/param.c
+1 -1
View File
@@ -71,7 +71,7 @@
/**
* Array of static parameter info.
*/
#if defined(_UNIT_TEST) || defined(__PX4_LINUX)
#if defined(_UNIT_TEST)
extern struct param_info_s param_array[];
extern struct param_info_s *param_info_base;
extern struct param_info_s *param_info_limit;