cmake remove circular linking and reorganize

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

src/modules/vtol_att_control/CMakeLists.txt

@@ -42,6 +42,5 @@ px4_add_module(
 		tailsitter.cpp
 		standard.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/vtol_att_control/standard.cpp

@@ -370,7 +370,7 @@ void Standard::update_mc_state()
 
 		// rotate the vector into a new frame which is rotated in z by the desired heading
 		// with respect to the earh frame.
-		float yaw_error = _wrap_pi(euler_sp(2) - euler(2));
+		float yaw_error = matrix::wrap_pi(euler_sp(2) - euler(2));
 		matrix::Dcmf R_yaw_correction = matrix::Eulerf(0.0f, 0.0f, -yaw_error);
 		tilt_new = R_yaw_correction * tilt_new;
 

src/modules/vtol_att_control/standard.h

@@ -46,7 +46,7 @@
 #ifndef STANDARD_H
 #define STANDARD_H
 #include "vtol_type.h"
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <drivers/drv_hrt.h>
 
 class Standard : public VtolType

src/modules/vtol_att_control/tailsitter.h

@@ -43,8 +43,8 @@
 #define TAILSITTER_H
 
 #include "vtol_type.h"
-#include <systemlib/perf_counter.h>  /** is it necsacery? **/
-#include <systemlib/param/param.h>
+#include <perf/perf_counter.h>  /** is it necsacery? **/
+#include <parameters/param.h>
 #include <drivers/drv_hrt.h>
 
 class Tailsitter : public VtolType

src/modules/vtol_att_control/tiltrotor.h

@@ -41,7 +41,7 @@
 #ifndef TILTROTOR_H
 #define TILTROTOR_H
 #include "vtol_type.h"
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <drivers/drv_hrt.h>
 
 class Tiltrotor : public VtolType

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -59,7 +59,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <lib/ecl/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/airspeed.h>