diff options
author | Roman Bapst <romanbapst@yahoo.de> | 2014-11-10 17:06:14 +0100 |
---|---|---|
committer | Roman Bapst <romanbapst@yahoo.de> | 2014-11-10 17:06:14 +0100 |
commit | 43ebaf287c86acbf7fba13b5203de68afcc79b44 (patch) | |
tree | b0fdc39a3586d5f455cf0c1d4a1e56f073876684 | |
parent | 0acdf5927b9e2dd2cc7375008af2d00cd7f9ba0e (diff) | |
download | px4-firmware-43ebaf287c86acbf7fba13b5203de68afcc79b44.tar.gz px4-firmware-43ebaf287c86acbf7fba13b5203de68afcc79b44.tar.bz2 px4-firmware-43ebaf287c86acbf7fba13b5203de68afcc79b44.zip |
cleaned up
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_base.cpp | 39 | ||||
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_base.h | 59 |
2 files changed, 75 insertions, 23 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_base.cpp b/src/modules/fw_att_control/fw_att_control_base.cpp index 7218e4e9b..d8ba15969 100644 --- a/src/modules/fw_att_control/fw_att_control_base.cpp +++ b/src/modules/fw_att_control/fw_att_control_base.cpp @@ -1,8 +1,39 @@ -/* - * fw_att_control_base.cpp +/* Copyright (c) 2014 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 mc_att_control_base.cpp + * + * @author Roman Bapst <bapstr@ethz.ch> * - * Created on: Sep 24, 2014 - * Author: roman */ #include "fw_att_control_base.h" diff --git a/src/modules/fw_att_control/fw_att_control_base.h b/src/modules/fw_att_control/fw_att_control_base.h index 6e071fe20..6b2efc46b 100644 --- a/src/modules/fw_att_control/fw_att_control_base.h +++ b/src/modules/fw_att_control/fw_att_control_base.h @@ -1,13 +1,44 @@ -/* - * fw_att_control_base.h - * - * Created on: Sep 24, 2014 - * Author: roman - */ - #ifndef FW_ATT_CONTROL_BASE_H_ #define FW_ATT_CONTROL_BASE_H_ +/* Copyright (c) 2014 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 fw_att_control_base.h + * + * @author Roman Bapst <bapstr@ethz.ch> + * + */ + #include <ecl/attitude_fw/ecl_pitch_controller.h> #include <ecl/attitude_fw/ecl_roll_controller.h> #include <ecl/attitude_fw/ecl_yaw_controller.h> @@ -22,8 +53,8 @@ #include <uORB/topics/parameter_update.h> #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_status.h> -#include <drivers/drv_accel.h> +#include <drivers/drv_accel.h> #include <systemlib/perf_counter.h> class FixedwingAttitudeControlBase @@ -35,7 +66,7 @@ public: FixedwingAttitudeControlBase(); /** - * Destructor, also kills the sensors task. + * Destructor */ ~FixedwingAttitudeControlBase(); @@ -46,8 +77,6 @@ protected: bool _task_running; /**< if true, task is running in its mainloop */ int _control_task; /**< task handle for sensor task */ - - struct vehicle_attitude_s _att; /**< vehicle attitude */ struct accel_report _accel; /**< body frame accelerations */ struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ @@ -107,20 +136,12 @@ protected: } _parameters; /**< local copies of interesting parameters */ - - - ECL_RollController _roll_ctrl; ECL_PitchController _pitch_ctrl; ECL_YawController _yaw_ctrl; void control_attitude(); - - - }; - - #endif /* FW_ATT_CONTROL_BASE_H_ */ |