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)

src/lib/ecl/attitude_fw/ecl_roll_controller.cpp

@@ -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_RollController::ECL_RollController() :
 	_last_run(0),
@@ -60,20 +67,20 @@ ECL_RollController::ECL_RollController() :
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input"))
+	//_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input"))
 {
 }
 
 ECL_RollController::~ECL_RollController()
 {
-	perf_free(_nonfinite_input_perf);
+	//perf_free(_nonfinite_input_perf);
 }
 
 float ECL_RollController::control_attitude(float roll_setpoint, float roll)
 {
 	/* Do not calculate control signal with bad inputs */
 	if (!(isfinite(roll_setpoint) && isfinite(roll))) {
-		perf_count(_nonfinite_input_perf);
+		//perf_count(_nonfinite_input_perf);
 		return _rate_setpoint;
 	}
 
@@ -101,7 +108,7 @@ float ECL_RollController::control_bodyrate(float pitch,
 	if (!(isfinite(pitch) && isfinite(roll_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);
 	}