lots' of header juggling and small changes to make mc att control compile for NuttX and ROS

2026-10-18 02:43:33 +08:00 · 2014-12-16 08:24:51 +01:00
parent 9980e44821
commit 9520983e08
20 changed files with 376 additions and 88 deletions
@@ -51,7 +51,10 @@
 * Building for running within the ROS environment
 */
 #define __EXPORT
+#define noreturn_function
+#ifdef __cplusplus
 #include "ros/ros.h"
+#endif
 /* Main entry point */
 #define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)

@@ -63,7 +66,7 @@
 #define PX4_TOPIC(_name) #_name

 /* Topic type */
-#define PX4_TOPIC_T(_name) _name
+#define PX4_TOPIC_T(_name) px4::_name

 /* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
 #define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, _objptr);
@@ -93,6 +96,38 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
 /* Get value of parameter */
 #define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)

+#define OK 0
+#define ERROR -1
+
+//XXX hack to be able to use isfinte from math.h, -D_GLIBCXX_USE_C99_MATH seems not to work
+#define isfinite(_value) std::isfinite(_value)
+
+/* Useful constants.  */
+#define M_E_F			2.7182818284590452354f
+#define M_LOG2E_F		1.4426950408889634074f
+#define M_LOG10E_F		0.43429448190325182765f
+#define M_LN2_F			_M_LN2_F
+#define M_LN10_F		2.30258509299404568402f
+#define M_PI_F			3.14159265358979323846f
+#define M_TWOPI_F       (M_PI_F * 2.0f)
+#define M_PI_2_F		1.57079632679489661923f
+#define M_PI_4_F		0.78539816339744830962f
+#define M_3PI_4_F		2.3561944901923448370E0f
+#define M_SQRTPI_F      1.77245385090551602792981f
+#define M_1_PI_F		0.31830988618379067154f
+#define M_2_PI_F		0.63661977236758134308f
+#define M_2_SQRTPI_F	1.12837916709551257390f
+#define M_DEG_TO_RAD_F 	0.01745329251994f
+#define M_RAD_TO_DEG_F 	57.2957795130823f
+#define M_SQRT2_F		1.41421356237309504880f
+#define M_SQRT1_2_F		0.70710678118654752440f
+#define M_LN2LO_F       1.9082149292705877000E-10f
+#define M_LN2HI_F       6.9314718036912381649E-1f
+#define M_SQRT3_F		1.73205080756887719000f
+#define M_IVLN10_F      0.43429448190325182765f /* 1 / log(10) */
+#define M_LOG2_E_F      _M_LN2_F
+#define M_INVLN2_F      1.4426950408889633870E0f  /* 1 / log(2) */
+
 #else
 /*
 * Building for NuttX
@@ -45,8 +45,21 @@
 /*
 * Building for running within the ROS environment
 */
+
+#ifdef __cplusplus
 #include "ros/ros.h"
 #include "px4/rc_channels.h"
+#include "px4/vehicle_attitude.h"
+#include <px4/vehicle_attitude_setpoint.h>
+#include <px4/manual_control_setpoint.h>
+#include <px4/actuator_controls.h>
+#include <px4/actuator_controls_0.h>
+#include <px4/vehicle_rates_setpoint.h>
+#include <px4/vehicle_attitude.h>
+#include <px4/vehicle_control_mode.h>
+#include <px4/actuator_armed.h>
+#include <px4/parameter_update.h>
+#endif

 #else
 /*
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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.
+ *
+ ****************************************************************************/
+
+/*
+ * @file circuit_breaker.c
+ *
+ * Circuit breaker parameters.
+ * Analog to real aviation circuit breakers these parameters
+ * allow to disable subsystems. They are not supported as standard
+ * operation procedure and are only provided for development purposes.
+ * To ensure they are not activated accidentally, the associated
+ * parameter needs to set to the key (magic).
+ */
+
+#include <px4.h>
+#include <systemlib/circuit_breaker_params.h>
+#include <systemlib/circuit_breaker.h>
+
+bool circuit_breaker_enabled(const char* breaker, int32_t magic)
+{
+	int32_t val;
+	(void)PX4_PARAM_GET(breaker, &val);
+
+	return (val == magic);
+}
+
@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file geo.c
+ *
+ * Geo / math functions to perform geodesic calculations
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <geo/geo.h>
+#include <px4.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#include <string.h>
+#include <float.h>
+
+__EXPORT float _wrap_pi(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	int c = 0;
+	while (bearing >= M_PI_F) {
+		bearing -= M_TWOPI_F;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	c = 0;
+	while (bearing < -M_PI_F) {
+		bearing += M_TWOPI_F;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_2pi(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	int c = 0;
+	while (bearing >= M_TWOPI_F) {
+		bearing -= M_TWOPI_F;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	c = 0;
+	while (bearing < 0.0f) {
+		bearing += M_TWOPI_F;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_180(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	int c = 0;
+	while (bearing >= 180.0f) {
+		bearing -= 360.0f;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	c = 0;
+	while (bearing < -180.0f) {
+		bearing += 360.0f;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_360(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	int c = 0;
+	while (bearing >= 360.0f) {
+		bearing -= 360.0f;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	c = 0;
+	while (bearing < 0.0f) {
+		bearing += 360.0f;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	return bearing;
+}