diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake index 953667a45e..045d473a90 100644 --- a/cmake/configs/nuttx_aerocore2_default.cmake +++ b/cmake/configs/nuttx_aerocore2_default.cmake @@ -119,7 +119,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake index 434975e07e..bfbd26c8b0 100644 --- a/cmake/configs/nuttx_aerofc-v1_default.cmake +++ b/cmake/configs/nuttx_aerofc-v1_default.cmake @@ -84,6 +84,5 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/version ) diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake index dbd1cf315e..51c3658959 100644 --- a/cmake/configs/nuttx_auav-x21_default.cmake +++ b/cmake/configs/nuttx_auav-x21_default.cmake @@ -130,7 +130,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake index 2eff33e186..e151a6c9d8 100644 --- a/cmake/configs/nuttx_crazyflie_default.cmake +++ b/cmake/configs/nuttx_crazyflie_default.cmake @@ -87,7 +87,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/version diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake index 89896767d3..42820967f7 100644 --- a/cmake/configs/nuttx_mindpx-v2_default.cmake +++ b/cmake/configs/nuttx_mindpx-v2_default.cmake @@ -134,7 +134,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake index c6d6020ecc..63d588583a 100644 --- a/cmake/configs/nuttx_nxphlite-v3_default.cmake +++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake @@ -141,7 +141,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake index 683e6b6695..0f941ff878 100644 --- a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake +++ b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake @@ -113,7 +113,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/version diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake index 073fa3fd5a..5f1fcec406 100644 --- a/cmake/configs/nuttx_px4fmu-v2_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake @@ -146,7 +146,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery #lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake index e4da5334e7..754af83bc3 100644 --- a/cmake/configs/nuttx_px4fmu-v2_test.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake @@ -131,7 +131,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake index 9f7d84fbf3..fdb65038e1 100644 --- a/cmake/configs/nuttx_px4fmu-v3_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake @@ -147,7 +147,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake index 8479d505b6..5018cfff07 100644 --- a/cmake/configs/nuttx_px4fmu-v4_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake @@ -140,7 +140,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake index 6ea68a1981..fdaaacfbf1 100644 --- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake @@ -139,7 +139,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake index 106c3f3f5f..b5c49806ea 100644 --- a/cmake/configs/nuttx_px4fmu-v5_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake @@ -141,7 +141,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake index 629a2309ff..0c650b28ee 100644 --- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake +++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake @@ -119,7 +119,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake index 27835b683b..4710f8ab50 100644 --- a/cmake/configs/nuttx_tap-v1_default.cmake +++ b/cmake/configs/nuttx_tap-v1_default.cmake @@ -95,7 +95,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake index 1decaa0095..1e62c8f075 100644 --- a/cmake/configs/posix_bebop_default.cmake +++ b/cmake/configs/posix_bebop_default.cmake @@ -79,7 +79,6 @@ set(config_module_list lib/geo_lookup lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/version ) diff --git a/cmake/configs/posix_ocpoc_cross.cmake b/cmake/configs/posix_ocpoc_cross.cmake index 81a38b7804..6c18c50e65 100644 --- a/cmake/configs/posix_ocpoc_cross.cmake +++ b/cmake/configs/posix_ocpoc_cross.cmake @@ -89,7 +89,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/version diff --git a/cmake/configs/posix_ocpoc_ubuntu.cmake b/cmake/configs/posix_ocpoc_ubuntu.cmake index 1ab2904d23..c6f809f108 100644 --- a/cmake/configs/posix_ocpoc_ubuntu.cmake +++ b/cmake/configs/posix_ocpoc_ubuntu.cmake @@ -88,7 +88,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/version diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake index c34b741944..5bab00f507 100644 --- a/cmake/configs/posix_rpi_common.cmake +++ b/cmake/configs/posix_rpi_common.cmake @@ -100,7 +100,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake index 784b5119b3..96bfeff8a0 100644 --- a/cmake/configs/posix_sdflight_default.cmake +++ b/cmake/configs/posix_sdflight_default.cmake @@ -77,7 +77,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/posix_sdflight_legacy.cmake b/cmake/configs/posix_sdflight_legacy.cmake index 442b5c8eb4..b81941064b 100644 --- a/cmake/configs/posix_sdflight_legacy.cmake +++ b/cmake/configs/posix_sdflight_legacy.cmake @@ -69,7 +69,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake index 1fe4f5e0dc..7d099bbd0f 100644 --- a/cmake/configs/posix_sitl_default.cmake +++ b/cmake/configs/posix_sitl_default.cmake @@ -126,7 +126,6 @@ set(config_module_list lib/mixer lib/mathlib lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/tunes lib/version diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake index adb6f97ae7..b853f25992 100644 --- a/cmake/configs/qurt_eagle_hil.cmake +++ b/cmake/configs/qurt_eagle_hil.cmake @@ -67,7 +67,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/version diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake index ac7a3b7320..20fc8fefde 100644 --- a/cmake/configs/qurt_eagle_travis.cmake +++ b/cmake/configs/qurt_eagle_travis.cmake @@ -73,7 +73,6 @@ set(config_module_list lib/led lib/mathlib lib/mixer - lib/tailsitter_recovery lib/terrain_estimation lib/version diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake index 27edcf1b20..509c00dd1a 100644 --- a/cmake/configs/qurt_sdflight_default.cmake +++ b/cmake/configs/qurt_sdflight_default.cmake @@ -91,7 +91,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/version diff --git a/cmake/configs/qurt_sdflight_legacy.cmake b/cmake/configs/qurt_sdflight_legacy.cmake index da1eff8c44..d338b8bffd 100644 --- a/cmake/configs/qurt_sdflight_legacy.cmake +++ b/cmake/configs/qurt_sdflight_legacy.cmake @@ -90,7 +90,6 @@ set(config_module_list lib/mathlib lib/mixer lib/rc - lib/tailsitter_recovery lib/terrain_estimation lib/version diff --git a/src/modules/mc_att_control/CMakeLists.txt b/src/modules/mc_att_control/CMakeLists.txt index f8e6b56e6c..b6a3af0ca5 100644 --- a/src/modules/mc_att_control/CMakeLists.txt +++ b/src/modules/mc_att_control/CMakeLists.txt @@ -30,6 +30,9 @@ # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ + +add_subdirectory(tailsitter_recovery) + px4_add_module( MODULE modules__mc_att_control MAIN mc_att_control @@ -39,6 +42,5 @@ px4_add_module( SRCS mc_att_control_main.cpp DEPENDS - platforms__common + tailsitter_recovery ) -# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index fefa3802c9..3c2369a42e 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -53,12 +53,13 @@ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers. */ +#include "tailsitter_recovery/tailsitter_recovery.h" + #include #include #include #include #include -#include #include #include #include diff --git a/src/lib/tailsitter_recovery/CMakeLists.txt b/src/modules/mc_att_control/tailsitter_recovery/CMakeLists.txt similarity index 89% rename from src/lib/tailsitter_recovery/CMakeLists.txt rename to src/modules/mc_att_control/tailsitter_recovery/CMakeLists.txt index e1a2c5794e..edafafe368 100644 --- a/src/lib/tailsitter_recovery/CMakeLists.txt +++ b/src/modules/mc_att_control/tailsitter_recovery/CMakeLists.txt @@ -30,13 +30,7 @@ # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ -px4_add_module( - MODULE lib__tailsitter_recovery - STACK_MAIN 400 - COMPILE_FLAGS - SRCS - tailsitter_recovery.cpp - DEPENDS - platforms__common - ) -# vim: set noet ft=cmake fenc=utf-8 ff=unix : + +px4_add_library(tailsitter_recovery + tailsitter_recovery.cpp +) \ No newline at end of file diff --git a/src/lib/tailsitter_recovery/tailsitter_recovery.cpp b/src/modules/mc_att_control/tailsitter_recovery/tailsitter_recovery.cpp similarity index 100% rename from src/lib/tailsitter_recovery/tailsitter_recovery.cpp rename to src/modules/mc_att_control/tailsitter_recovery/tailsitter_recovery.cpp diff --git a/src/lib/tailsitter_recovery/tailsitter_recovery.h b/src/modules/mc_att_control/tailsitter_recovery/tailsitter_recovery.h similarity index 100% rename from src/lib/tailsitter_recovery/tailsitter_recovery.h rename to src/modules/mc_att_control/tailsitter_recovery/tailsitter_recovery.h