Move src/module/systemlib/mixer to src/lib/mixer

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -47,8 +47,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/mixer/mixer_load.h>
+#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_load.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 

src/drivers/mkblctrl/mkblctrl.cpp

@@ -73,7 +73,7 @@
 
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>

src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp

@@ -46,8 +46,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/mixer/mixer_multirotor.generated.h>
+#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_multirotor.generated.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <dev_fs_lib_serial.h>

src/drivers/pwm_out_sim/pwm_out_sim.cpp

@@ -74,7 +74,7 @@
 #include <drivers/drv_mixer.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_armed.h>

src/drivers/px4fmu/fmu.cpp

@@ -58,7 +58,7 @@
 #include <px4_module.h>
 #include <systemlib/board_serial.h>
 #include <systemlib/circuit_breaker.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/param/param.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/pwm_limit/pwm_limit.h>

src/drivers/px4io/px4io.cpp

@@ -67,7 +67,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
 
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>

src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp

@@ -47,9 +47,9 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/mixer/mixer_load.h>
-#include <systemlib/mixer/mixer_multirotor.generated.h>
+#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_load.h>
+#include <lib/mixer/mixer_multirotor.generated.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <dev_fs_lib_pwm.h>

src/drivers/tap_esc/tap_esc.cpp

@@ -54,7 +54,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 

src/lib/mixer/CMakeLists.txt

@@ -93,7 +93,7 @@ add_custom_target(mixer_gen_legacy
 	DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h)
 
 px4_add_module(
-	MODULE modules__systemlib__mixer
+	MODULE lib__mixer
 	SRCS
 		mixer.cpp
 		mixer_group.cpp

src/lib/mixer/geoms/quad_x.toml

@@ -13,7 +13,7 @@ Cm        = 0.05
 
 [[rotors]]
 name      = "front_right"
-position  = [0.707107, 0.707107]#, 0.0]
+position  = [0.707107, 0.707107, 0.0]
 direction = "CCW"
 
 [[rotors]]

src/lib/mixer/mixer_helicopter.cpp

@@ -282,4 +282,3 @@ HelicopterMixer::groups_required(uint32_t &groups)
 	/* XXX for now, hardcoded to indexes 0-3 in control group zero */
 	groups |= (1 << 0);
 }
-

src/lib/mixer/mixer_load.c

@@ -112,4 +112,3 @@ int load_mixer_file(const char *fname, char *buf, unsigned maxlen)
 	fclose(fp);
 	return 0;
 }
-

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -64,7 +64,7 @@
 #include <px4_tasks.h>
 #include <systemlib/circuit_breaker.h>
 #include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/param/param.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>

src/modules/px4iofirmware/mixer.cpp

@@ -52,7 +52,7 @@
 #include <rc/sbus.h>
 
 #include <systemlib/pwm_limit/pwm_limit.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <uORB/topics/actuator_controls.h>
 
 #include "mixer.h"

src/modules/uavcan/uavcan_main.cpp

@@ -51,7 +51,7 @@
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
 #include <version/version.h>
 #include <arch/board/board.h>

src/modules/uavcan/uavcan_servers.cpp

@@ -44,7 +44,7 @@
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
 #include <version/version.h>
 #include <arch/board/board.h>

src/modules/uavcanesc/uavcanesc_main.cpp

@@ -44,7 +44,7 @@
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
 #include <version/version.h>
 #include <arch/board/board.h>

src/modules/uavcannode/uavcannode_main.cpp

@@ -47,7 +47,7 @@
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
 #include <version/version.h>
 __BEGIN_DECLS

src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -53,7 +53,7 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/esc_status.h>
 
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/battery.h>
 
 #include <bebop_bus/BebopBus.hpp>

src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp

@@ -46,8 +46,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/mixer/mixer_multirotor.generated.h>
+#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_multirotor.generated.h>
 #include <systemlib/param/param.h>
 
 #ifdef __cplusplus

src/systemcmds/mixer/mixer.cpp

@@ -48,7 +48,7 @@
 #include <errno.h>
 #include <ctype.h>
 
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <uORB/topics/actuator_controls.h>
 
 /**

src/systemcmds/tests/test_autodeclination.cpp

@@ -4,7 +4,7 @@
 #include <geo/geo.h>
 #include <px4iofirmware/px4io.h>
 #include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 
 #include <math.h>
 #include <stdio.h>

src/systemcmds/tests/test_mixer.cpp

@@ -53,7 +53,7 @@
 #include <math.h>
 
 #include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>