mixer: minor refactoring to reduce header include dependencies

- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer

src/drivers/drv_mixer.h

@@ -71,31 +71,6 @@
 /** reset (clear) the mixer configuration */
 #define MIXERIOCRESET		_MIXERIOC(1)
 
-/** simple channel scaler */
-struct mixer_scaler_s {
-	float			negative_scale;
-	float			positive_scale;
-	float			offset;
-	float			min_output;
-	float			max_output;
-};
-
-/** mixer input */
-struct mixer_control_s {
-	uint8_t			control_group;	/**< group from which the input reads */
-	uint8_t			control_index;	/**< index within the control group */
-	struct mixer_scaler_s 	scaler;		/**< scaling applied to the input before use */
-};
-
-/** simple mixer */
-struct mixer_simple_s {
-	uint8_t			control_count;	/**< number of inputs */
-	struct mixer_scaler_s	output_scaler;	/**< scaling for the output */
-	struct mixer_control_s	controls[0];	/**< actual size of the array is set by control_count */
-};
-
-#define MIXER_SIMPLE_SIZE(_icount)	(sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
-
 /**
  * add a simple mixer in (struct mixer_simple_s *)arg
  */

src/drivers/uavcan/uavcan_main.cpp

@@ -59,6 +59,7 @@
 #include <uORB/topics/parameter_update.h>
 
 #include <drivers/drv_hrt.h>
+#include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
 
 #include "uavcan_module.hpp"

src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp

@@ -38,6 +38,7 @@
 #include "ManualSmoothingXY.hpp"
 #include <mathlib/mathlib.h>
 #include <float.h>
+#include <px4_defines.h>
 
 using namespace matrix;
 

src/lib/FlightTasks/tasks/Utility/StraightLine.cpp

@@ -38,6 +38,7 @@
 #include "StraightLine.hpp"
 #include <mathlib/mathlib.h>
 #include <float.h>
+#include <px4_defines.h>
 
 #define VEL_ZERO_THRESHOLD 0.001f // Threshold to compare if the target velocity is zero
 #define DECELERATION_MAX 8.0f     // The vehicles maximum deceleration TODO check to create param

src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp

@@ -36,6 +36,7 @@
 #include <cstdio>
 #include <float.h>
 #include <math.h>
+#include <px4_defines.h>
 
 #include <mathlib/mathlib.h>
 

src/lib/battery/battery.cpp

@@ -42,6 +42,7 @@
 #include "battery.h"
 #include <mathlib/mathlib.h>
 #include <cstring>
+#include <px4_defines.h>
 
 Battery::Battery() :
 	ModuleParams(nullptr),

src/lib/conversion/rotation.cpp

@@ -37,6 +37,7 @@
  * Vector rotation library
  */
 
+#include <px4_defines.h>
 #include "math.h"
 #include "rotation.h"
 

src/lib/mathlib/math/Functions.hpp

@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <platforms/px4_defines.h>
+#include "Limits.hpp"
 
 namespace math
 {

src/lib/mathlib/math/Limits.hpp

@@ -39,8 +39,13 @@
 
 #pragma once
 
-#include <platforms/px4_defines.h>
 #include <float.h>
+#include <math.h>
+#include <stdint.h>
+
+#ifndef MATH_PI
+#define MATH_PI		3.141592653589793238462643383280
+#endif
 
 //this should be defined in stdint.h, but seems to be missing in the ARM toolchain (5.2.0)
 #ifndef UINT64_C
@@ -90,13 +95,13 @@ inline constexpr bool isInRange(const _Tp &val, const _Tp &min_val, const _Tp &m
 template<typename T>
 constexpr T radians(const T degrees)
 {
-	return degrees * (static_cast<T>(M_PI) / static_cast<T>(180));
+	return degrees * (static_cast<T>(MATH_PI) / static_cast<T>(180));
 }
 
 template<typename T>
 constexpr T degrees(const T radians)
 {
-	return radians * (static_cast<T>(180) / static_cast<T>(M_PI));
+	return radians * (static_cast<T>(180) / static_cast<T>(MATH_PI));
 }
 
 /** Save way to check if float is zero */

src/lib/mathlib/math/SearchMin.hpp

@@ -40,8 +40,6 @@
 
 #pragma once
 
-#include <platforms/px4_defines.h>
-
 namespace math
 {
 static constexpr double GOLDEN_RATIO = 1.6180339887; //(sqrt(5)+1)/2

src/lib/mixer/mixer.cpp

@@ -39,6 +39,7 @@
 
 #include "mixer.h"
 
+#include <math.h>
 #include <cstring>
 #include <ctype.h>
 

src/lib/mixer/mixer.h

@@ -125,19 +125,41 @@
  */
 
 
-#ifndef _SYSTEMLIB_MIXER_MIXER_H
-#define _SYSTEMLIB_MIXER_MIXER_H value
+#pragma once
 
-#include <px4_config.h>
-#include "drivers/drv_mixer.h"
+#include <stdint.h>
+
+/** simple channel scaler */
+struct mixer_scaler_s {
+	float			negative_scale;
+	float			positive_scale;
+	float			offset;
+	float			min_output;
+	float			max_output;
+};
+
+/** mixer input */
+struct mixer_control_s {
+	uint8_t			control_group;	/**< group from which the input reads */
+	uint8_t			control_index;	/**< index within the control group */
+	struct mixer_scaler_s 	scaler;		/**< scaling applied to the input before use */
+};
+
+/** simple mixer */
+struct mixer_simple_s {
+	uint8_t			control_count;	/**< number of inputs */
+	struct mixer_scaler_s	output_scaler;	/**< scaling for the output */
+	struct mixer_control_s	controls[0];	/**< actual size of the array is set by control_count */
+};
+
+#define MIXER_SIMPLE_SIZE(_icount)	(sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
 
-#include "mixer_load.h"
 
 /**
  * Abstract class defining a mixer mixing zero or more inputs to
  * one or more outputs.
  */
-class __EXPORT Mixer
+class Mixer
 {
 public:
 	enum class Airmode : int32_t {
@@ -304,7 +326,7 @@ private:
  * Group of mixers, built up from single mixers and processed
  * in order when mixing.
  */
-class __EXPORT MixerGroup : public Mixer
+class MixerGroup : public Mixer
 {
 public:
 	MixerGroup(ControlCallback control_cb, uintptr_t cb_handle);
@@ -440,7 +462,7 @@ private:
  *
  * Used as a placeholder for output channels that are unassigned in groups.
  */
-class __EXPORT NullMixer : public Mixer
+class NullMixer : public Mixer
 {
 public:
 	NullMixer();
@@ -481,7 +503,7 @@ public:
  *
  * Collects zero or more inputs and mixes them to a single output.
  */
-class __EXPORT SimpleMixer : public Mixer
+class SimpleMixer : public Mixer
 {
 public:
 	/**
@@ -582,7 +604,7 @@ enum class MultirotorGeometry : MultirotorGeometryUnderlyingType;
  * Collects four inputs (roll, pitch, yaw, thrust) and mixes them to
  * a set of outputs based on the configured geometry.
  */
-class __EXPORT MultirotorMixer : public Mixer
+class MultirotorMixer : public Mixer
 {
 public:
 	/**
@@ -813,7 +835,7 @@ struct mixer_heli_s {
  * Collects four inputs (roll, pitch, yaw, thrust) and mixes them to servo commands
  * for swash plate tilting and throttle- and pitch curves.
  */
-class __EXPORT HelicopterMixer : public Mixer
+class HelicopterMixer : public Mixer
 {
 public:
 	/**
@@ -870,5 +892,3 @@ private:
 	HelicopterMixer(const HelicopterMixer &);
 	HelicopterMixer operator=(const HelicopterMixer &);
 };
-
-#endif

src/lib/mixer/mixer_helicopter.cpp

@@ -40,6 +40,8 @@
 #include "mixer.h"
 
 #include <mathlib/mathlib.h>
+#include <cstdio>
+#include <px4_defines.h>
 
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)

src/lib/mixer/mixer_multirotor.cpp

@@ -41,6 +41,7 @@
 
 #include <cfloat>
 #include <cstring>
+#include <cstdio>
 
 #include <mathlib/mathlib.h>
 

src/lib/mixer/mixer_simple.cpp

@@ -38,6 +38,7 @@
  */
 
 #include "mixer.h"
+#include <stdio.h>
 
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)

src/lib/terrain_estimation/terrain_estimator.cpp

@@ -38,6 +38,7 @@
 
 #include "terrain_estimator.h"
 #include <lib/ecl/geo/geo.h>
+#include <px4_defines.h>
 
 #define DISTANCE_TIMEOUT 100000		// time in usec after which laser is considered dead
 

src/modules/mc_pos_control/PositionControl.cpp

@@ -39,6 +39,7 @@
 #include <float.h>
 #include <mathlib/mathlib.h>
 #include "Utility/ControlMath.hpp"
+#include <px4_defines.h>
 
 using namespace matrix;
 

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

@@ -54,6 +54,7 @@
 #include <uORB/topics/esc_status.h>
 
 #include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_load.h>
 #include <battery/battery.h>
 
 #include <bebop_bus/BebopBus.hpp>

src/systemcmds/mixer/mixer.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file mixer.c
+ * @file mixer.cpp
  *
  * Mixer utility.
  */
@@ -48,7 +48,9 @@
 #include <errno.h>
 #include <ctype.h>
 
+#include <drivers/drv_mixer.h>
 #include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_load.h>
 #include <uORB/topics/actuator_controls.h>
 
 /**

src/systemcmds/tests/test_mixer.cpp

@@ -44,6 +44,7 @@
 
 #include <px4_config.h>
 #include <mixer/mixer.h>
+#include <mixer/mixer_load.h>
 #include <pwm_limit/pwm_limit.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>