cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

src/lib/drivers/device/integrator.h

@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file integrator.h
+ *
+ * A resettable integrator
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#pragma once
+
+#include <mathlib/mathlib.h>
+
+class Integrator
+{
+public:
+	Integrator(uint64_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
+	virtual ~Integrator();
+
+	/**
+	 * Put an item into the integral.
+	 *
+	 * @param timestamp	Timestamp of the current value.
+	 * @param val		Item to put.
+	 * @param integral	Current integral in case the integrator did reset, else the value will not be modified
+	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
+	 * @return		true if putting the item triggered an integral reset and the integral should be
+	 *			published.
+	 */
+	bool put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt);
+
+	/**
+	 * Put an item into the integral but provide an interval instead of a timestamp.
+	 *
+	 * @param interval_us	Interval in us since last integration.
+	 * @param val		Item to put.
+	 * @param integral	Current integral in case the integrator did reset, else the value will not be modified
+	 * @param integral_dt	Get the dt in us of the current integration (only if reset). Note that this
+	 *			values might not be accurate vs. hrt_absolute_time because it is just the sum of the
+	 *			supplied intervals.
+	 * @return		true if putting the item triggered an integral reset and the integral should be
+	 *			published.
+	 */
+	bool put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral,
+			       uint64_t &integral_dt);
+
+	/**
+	 * Get the current integral and reset the integrator if needed.
+	 *
+	 * @param reset	    	Reset the integral to zero.
+	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
+	 * @return		the integral since the last read-reset
+	 */
+	matrix::Vector3f	get(bool reset, uint64_t &integral_dt);
+
+	/**
+	 * Get the current integral and reset the integrator if needed. Additionally give the
+	 * integral over the samples differentiated by the integration time (mean filtered values).
+	 *
+	 * @param reset	    	Reset the integral to zero.
+	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
+	 * @param filtered_val	The integral differentiated by the integration time.
+	 * @return		the integral since the last read-reset
+	 */
+	matrix::Vector3f	get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val);
+
+private:
+	uint64_t _auto_reset_interval;			/**< the interval after which the content will be published
+							     and the integrator reset, 0 if no auto-reset */
+	uint64_t _last_integration_time;		/**< timestamp of the last integration step */
+	uint64_t _last_reset_time;			/**< last auto-announcement of integral value */
+	matrix::Vector3f _alpha;			/**< integrated value before coning corrections are applied */
+	matrix::Vector3f _last_alpha;			/**< previous value of _alpha */
+	matrix::Vector3f _beta;				/**< accumulated coning corrections */
+	matrix::Vector3f _last_val;			/**< previous input */
+	matrix::Vector3f _last_delta_alpha;		/**< integral from previous previous sampling interval */
+	bool _coning_comp_on;				/**< true to turn on coning corrections */
+
+	/* we don't want this class to be copied */
+	Integrator(const Integrator &);
+	Integrator operator=(const Integrator &);
+
+	/* Do a reset.
+	 *
+	 * @param integral_dt	Get the dt in us of the current integration.
+	 */
+	void _reset(uint64_t &integral_dt);
+};