examples remove extra semicolons

src/examples/fixedwing_control/main.cpp

@@ -42,40 +42,31 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
+#include "params.h"
+
+#include <poll.h>
+
+#include <drivers/drv_hrt.h>
+#include <geo/geo.h>
+#include <matrix/math.hpp>
 #include <px4_config.h>
 #include <px4_tasks.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/systemlib.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/parameter_update.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/err.h>
-
-#include <matrix/math.hpp>
-
-/* process-specific header files */
-#include "params.h"
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/uORB.h>
 
 /* Prototypes */
 
@@ -112,6 +103,14 @@ int fixedwing_control_thread_main(int argc, char *argv[]);
  */
 static void usage(const char *reason);
 
+int parameters_init(struct param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct param_handles *h, struct params *p);
+
 /**
  * Control roll and pitch angle.
  *
@@ -226,6 +225,26 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct p
 	att_sp->q_d[3] = qd(3);
 }
 
+int parameters_init(struct param_handles *handles)
+{
+	/* PID parameters */
+	handles->hdng_p 	=	param_find("EXFW_HDNG_P");
+	handles->roll_p 	=	param_find("EXFW_ROLL_P");
+	handles->pitch_p 	=	param_find("EXFW_PITCH_P");
+
+	return 0;
+}
+
+int parameters_update(const struct param_handles *handles, struct params *parameters)
+{
+	param_get(handles->hdng_p, &(parameters->hdng_p));
+	param_get(handles->roll_p, &(parameters->roll_p));
+	param_get(handles->pitch_p, &(parameters->pitch_p));
+
+	return 0;
+}
+
+
 /* Main Thread */
 int fixedwing_control_thread_main(int argc, char *argv[])
 {