Moved all fixed wing controllers to new world

3 files changed, 0 insertions, 281 deletions

diff --git a/apps/examples/control_demo/Makefile b/apps/examples/control_demo/Makefile
deleted file mode 100644
index 6e40e645f..000000000
--- a/apps/examples/control_demo/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 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.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = control_demo
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/control_demo/control_demo.cpp b/apps/examples/control_demo/control_demo.cpp
deleted file mode 100644
index e609f2f4b..000000000
--- a/apps/examples/control_demo/control_demo.cpp
+++ /dev/null
@@ -1,168 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User <mail@example.com>
- *
- * 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 control_demo.cpp
- * Demonstration of control library
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <systemlib/systemlib.h>
-#include <controllib/fixedwing.hpp>
-#include <systemlib/param/param.h>
-#include <drivers/drv_hrt.h>
-#include <math.h>
-
-static bool thread_should_exit = false;     /**< Deamon exit flag */
-static bool thread_running = false;     /**< Deamon status flag */
-static int deamon_task;             /**< Handle of deamon task / thread */
-
-/**
- * Deamon management function.
- */
-extern "C" __EXPORT int control_demo_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int control_demo_thread_main(int argc, char *argv[]);
-
-/**
- * Test function
- */
-void test();
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: control_demo {start|stop|status} [-p <additional params>]\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int control_demo_main(int argc, char *argv[])
-{
-
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("control_demo already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn("control_demo",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 10,
-					 5120,
-					 control_demo_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "test")) {
-		test();
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tcontrol_demo app is running\n");
-
-		} else {
-			printf("\tcontrol_demo app not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int control_demo_thread_main(int argc, char *argv[])
-{
-
-	printf("[control_Demo] starting\n");
-
-	using namespace control;
-
-	fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB");
-
-	thread_running = true;
-
-	while (!thread_should_exit) {
-		autopilot.update();
-	}
-
-	printf("[control_demo] exiting.\n");
-
-	thread_running = false;
-
-	return 0;
-}
-
-void test()
-{
-	printf("beginning control lib test\n");
-	control::basicBlocksTest();
-}
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
deleted file mode 100644
index 428b779b1..000000000
--- a/apps/examples/control_demo/params.c
+++ /dev/null
@@ -1,71 +0,0 @@
-#include <systemlib/param/param.h>
-
-// currently tuned for easystar from arkhangar in HIL
-//https://github.com/arktools/arkhangar
-
-// 16 is max name length
-
-// gyro low pass filter
-PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
-PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
-PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
-
-// yaw washout
-PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
-
-// stabilization mode
-PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
-PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
-PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
-
-//  psi -> phi -> p
-PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f);      // heading 2 roll
-PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f);        // roll to roll rate
-PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f);  // roll limit, 28 deg
-
-// velocity -> theta
-PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f);      // velocity to pitch angle PID, prop gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);      // integral gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);      // derivative gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);   // derivative low-pass
-PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);  // integrator wind up guard
-PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);     // the max commanded pitch angle
-PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);      // the min commanded pitch angle
-
-
-// theta -> q
-PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);      // pitch angle to pitch-rate PID
-PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
-
-//  h -> thr
-PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);     // altitude to throttle PID
-PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
-
-// crosstrack
-PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90 deg
-PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
-
-// speed command
-PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f);       // minimum commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f);       // commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f);       // maximum commanded velocity
-
-// rate of climb
-// this is what rate of climb is commanded (in m/s) 
-// when the pitch stick is fully defelcted in simple mode
-PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f);
-
-//  rate of climb -> thr
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f);   // rate of climb to throttle PID
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f);
-
-PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);     // trim throttle (0,1)