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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_wheel_controller.cpp
+5 -9
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@@ -39,13 +39,9 @@
*/
#include "ecl_wheel_controller.h"
#include <stdint.h>
#include <float.h>
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
#include <ecl/ecl.h>
ECL_WheelController::ECL_WheelController() :
ECL_Controller("wheel")
@@ -55,9 +51,9 @@ ECL_WheelController::ECL_WheelController() :
float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.groundspeed) &&
PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
if (!(ISFINITE(ctl_data.body_z_rate) &&
ISFINITE(ctl_data.groundspeed) &&
ISFINITE(ctl_data.groundspeed_scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}
@@ -110,8 +106,8 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) &&
PX4_ISFINITE(ctl_data.yaw))) {
if (!(ISFINITE(ctl_data.yaw_setpoint) &&
ISFINITE(ctl_data.yaw))) {
return _rate_setpoint;
}