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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_yaw_controller.cpp
+13 -17
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@@ -39,13 +39,9 @@
*/
#include "ecl_yaw_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_YawController::ECL_YawController() :
ECL_Controller("yaw"),
@@ -65,10 +61,10 @@ float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data
return control_attitude_impl_accclosedloop(ctl_data);
default:
static hrt_abstime last_print = 0;
static ecl_abstime last_print = 0;
if (ecl_elapsed_time(&last_print) > 5e6) {
warnx("invalid param setting FW_YCO_METHOD");
ECL_WARN("invalid param setting FW_YCO_METHOD");
last_print = ecl_absolute_time();
}
}
@@ -79,10 +75,10 @@ float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data
float ECL_YawController::control_attitude_impl_openloop(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.roll_rate_setpoint) &&
PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
if (!(ISFINITE(ctl_data.roll) &&
ISFINITE(ctl_data.pitch) &&
ISFINITE(ctl_data.roll_rate_setpoint) &&
ISFINITE(ctl_data.pitch_rate_setpoint))) {
return _rate_setpoint;
}
@@ -118,8 +114,8 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
ctl_data.airspeed_min : ctl_data.airspeed);
}
if (!PX4_ISFINITE(_rate_setpoint)) {
warnx("yaw rate sepoint not finite");
if (!ISFINITE(_rate_setpoint)) {
ECL_WARN("yaw rate sepoint not finite");
_rate_setpoint = 0.0f;
}
@@ -129,10 +125,10 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
float ECL_YawController::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.pitch_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.pitch_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);
}
@@ -151,7 +147,7 @@ float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data
/* input conditioning */
float airspeed = ctl_data.airspeed;
if (!PX4_ISFINITE(airspeed)) {
if (!ISFINITE(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */
airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);