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fw_pos_control_l1 move to ModuleBase

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Daniel Agar
2018-02-17 18:11:43 +01:00
committed by Lorenz Meier
parent 4aeb70fcfe
commit 458d8f7b02
2 changed files with 83 additions and 148 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+29 -31
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@@ -48,22 +48,24 @@
#ifndef FIXEDWINGPOSITIONCONTROL_HPP_
#define FIXEDWINGPOSITIONCONTROL_HPP_
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <cfloat>
#include "Landingslope.hpp"
#include "launchdetection/LaunchDetector.h"
#include "runway_takeoff/RunwayTakeoff.h"
#include <cfloat>
#include <controllib/block/BlockParam.hpp>
#include <controllib/blocks.hpp>
#include <drivers/drv_hrt.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <ecl/tecs/tecs.h>
#include <geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_module.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <systemlib/perf_counter.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>
@@ -71,16 +73,16 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/uORB.h>
#include <vtol_att_control/vtol_type.h>
@@ -120,34 +122,35 @@ using uORB::Subscription;
using namespace launchdetection;
using namespace runwaytakeoff;
class FixedwingPositionControl
class FixedwingPositionControl final : public control::SuperBlock, public ModuleBase<FixedwingPositionControl>
{
public:
FixedwingPositionControl();
~FixedwingPositionControl();
~FixedwingPositionControl() override;
FixedwingPositionControl(const FixedwingPositionControl &) = delete;
FixedwingPositionControl operator=(const FixedwingPositionControl &other) = delete;
/**
* Start the sensors task.
*
* @return OK on success.
*/
static int start();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
/** @see ModuleBase */
static FixedwingPositionControl *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
private:
orb_advert_t _mavlink_log_pub{nullptr};
bool _task_should_exit{false}; ///< if true, sensor task should exit */
bool _task_running{false}; ///< if true, task is running in its mainloop */
int _global_pos_sub{-1};
int _local_pos_sub{-1};
int _pos_sp_triplet_sub{-1};
@@ -474,9 +477,4 @@ private:
};
namespace l1_control
{
extern FixedwingPositionControl *g_control;
} // namespace l1_control
#endif // FIXEDWINGPOSITIONCONTROL_HPP_