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cmake standalone build

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This commit is contained in:
Daniel Agar
2018-05-03 22:25:36 -04:00
parent eec71d1a10
commit e5952fadaf
173 changed files with 588 additions and 324 deletions
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attitude_fw/ecl_pitch_controller.cpp
+13 -16
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@@ -40,12 +40,9 @@
#include "ecl_pitch_controller.h"
#include <math.h>
#include <stdint.h>
#include <float.h>
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
ECL_PitchController::ECL_PitchController() :
ECL_Controller("pitch"),
@@ -58,11 +55,11 @@ float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_da
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.pitch_setpoint) &&
PX4_ISFINITE(ctl_data.roll) &&
PX4_ISFINITE(ctl_data.pitch) &&
PX4_ISFINITE(ctl_data.airspeed))) {
warnx("not controlling pitch");
if (!(ISFINITE(ctl_data.pitch_setpoint) &&
ISFINITE(ctl_data.roll) &&
ISFINITE(ctl_data.pitch) &&
ISFINITE(ctl_data.airspeed))) {
ECL_WARN("not controlling pitch");
return _rate_setpoint;
}
@@ -78,14 +75,14 @@ float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_da
float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.roll) &&
PX4_ISFINITE(ctl_data.pitch) &&
PX4_ISFINITE(ctl_data.body_y_rate) &&
PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.yaw_rate_setpoint) &&
PX4_ISFINITE(ctl_data.airspeed_min) &&
PX4_ISFINITE(ctl_data.airspeed_max) &&
PX4_ISFINITE(ctl_data.scaler))) {
if (!(ISFINITE(ctl_data.roll) &&
ISFINITE(ctl_data.pitch) &&
ISFINITE(ctl_data.body_y_rate) &&
ISFINITE(ctl_data.body_z_rate) &&
ISFINITE(ctl_data.yaw_rate_setpoint) &&
ISFINITE(ctl_data.airspeed_min) &&
ISFINITE(ctl_data.airspeed_max) &&
ISFINITE(ctl_data.scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}