Moved all fixed wing controllers to new world

12 files changed, 37 insertions, 36 deletions

diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 0767f7144..6fd7da461 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -57,6 +57,13 @@ MODULES		+= modules/position_estimator_mc
 MODULES		+= modules/att_pos_estimator_ekf
 
 #
+# Vehicle Control
+#
+MODULES		+= modules/fixedwing_backside
+MODULES		+= modules/fixedwing_att_control
+MODULES		+= modules/fixedwing_pos_control
+
+#
 # Logging
 #
 MODULES		+= modules/sdlog
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
index b012448a2..769b8b0a8 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
@@ -35,7 +35,6 @@
  * @file fixedwing_att_control_rate.c
  * Implementation of a fixed wing attitude controller.
  */
-#include <fixedwing_att_control_att.h>
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -59,7 +58,7 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
-
+#include "fixedwing_att_control_att.h"
 
 
 struct fw_att_control_params {
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h
index 600e35b89..600e35b89 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.h
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
index aa9db6d52..58477632b 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
@@ -65,8 +65,9 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
-#include <fixedwing_att_control_rate.h>
-#include <fixedwing_att_control_att.h>
+
+#include "fixedwing_att_control_rate.h"
+#include "fixedwing_att_control_att.h"
 
 /* Prototypes */
 /**
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
index ba5b593e2..4eccc118c 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -33,11 +33,11 @@
  ****************************************************************************/
 /**
  * @file fixedwing_att_control_rate.c
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *
  * Implementation of a fixed wing attitude controller.
  *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
-#include <fixedwing_att_control_rate.h>
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -61,6 +61,8 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
+#include "fixedwing_att_control_rate.h"
+
 /*
  * Controller parameters, accessible via MAVLink
  *
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
index 500e3e197..500e3e197 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
diff --git a/apps/fixedwing_att_control/Makefile b/src/modules/fixedwing_att_control/module.mk
index 01465fa9e..fd1a8724a 100644
--- a/apps/fixedwing_att_control/Makefile
+++ b/src/modules/fixedwing_att_control/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 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
@@ -32,14 +32,11 @@
 ############################################################################
 
 #
-# Fixedwing Control application
+# Fixedwing Attitude Control application
 #
 
-APPNAME		 = fixedwing_att_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
+MODULE_COMMAND	= fixedwing_att_control
 
+SRCS		= fixedwing_att_control_main.c \
+		  fixedwing_att_control_att.c \
+		  fixedwing_att_control_rate.c
diff --git a/apps/examples/control_demo/control_demo.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
index e609f2f4b..e21990c92 100644
--- a/apps/examples/control_demo/control_demo.cpp
+++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User <mail@example.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: James Goppert
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,8 +33,10 @@
  ****************************************************************************/
 
 /**
- * @file control_demo.cpp
- * Demonstration of control library
+ * @file fixedwing_backside_main.cpp
+ * @author James Goppert
+ *
+ * Fixedwing backside controller using control library
  */
 
 #include <nuttx/config.h>
@@ -55,7 +57,7 @@ static int deamon_task;             /**< Handle of deamon task / thread */
 /**
  * Deamon management function.
  */
-extern "C" __EXPORT int control_demo_main(int argc, char *argv[]);
+extern "C" __EXPORT int fixedwing_backside_main(int argc, char *argv[]);
 
 /**
  * Mainloop of deamon.
@@ -90,7 +92,7 @@ usage(const char *reason)
  * The actual stack size should be set in the call
  * to task_create().
  */
-int control_demo_main(int argc, char *argv[])
+int fixedwing_backside_main(int argc, char *argv[])
 {
 
 	if (argc < 1)
diff --git a/apps/examples/control_demo/Makefile b/src/modules/fixedwing_backside/module.mk
index 6e40e645f..a9233288b 100644
--- a/apps/examples/control_demo/Makefile
+++ b/src/modules/fixedwing_backside/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 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
@@ -32,11 +32,9 @@
 ############################################################################
 
 #
-# Basic example application
+# Fixedwing backside controller
 #
 
-APPNAME		 = control_demo
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= fixedwing_backside
 
-include $(APPDIR)/mk/app.mk
+SRCS		= fixedwing_backside_main.cpp
diff --git a/apps/examples/control_demo/params.c b/src/modules/fixedwing_backside/params.c
index 428b779b1..428b779b1 100644
--- a/apps/examples/control_demo/params.c
+++ b/src/modules/fixedwing_backside/params.c
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
index 71c78f5b8..71c78f5b8 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
diff --git a/apps/fixedwing_pos_control/Makefile b/src/modules/fixedwing_pos_control/module.mk
index bce391f49..b976377e9 100644
--- a/apps/fixedwing_pos_control/Makefile
+++ b/src/modules/fixedwing_pos_control/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 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
@@ -32,14 +32,9 @@
 ############################################################################
 
 #
-# Fixedwing Control application
+# Fixedwing PositionControl application
 #
 
-APPNAME		 = fixedwing_pos_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
+MODULE_COMMAND	= fixedwing_pos_control
 
+SRCS		= fixedwing_pos_control_main.c