Moved last libs, drivers and headers, cleaned up IO build

2 files changed, 0 insertions, 269 deletions

diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
deleted file mode 100644
index 49315cdc9..000000000
--- a/apps/systemlib/pid/pid.c
+++ /dev/null
@@ -1,191 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Laurens Mackay <mackayl@student.ethz.ch>
- *           @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
- *
- * 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 pid.c
- * Implementation of generic PID control interface
- */
-
-#include "pid.h"
-#include <math.h>
-
-__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
-		       float limit, uint8_t mode)
-{
-	pid->kp = kp;
-	pid->ki = ki;
-	pid->kd = kd;
-	pid->intmax = intmax;
-	pid->limit = limit;
-	pid->mode = mode;
-	pid->count = 0;
-	pid->saturated = 0;
-	pid->last_output = 0;
-
-	pid->sp = 0;
-	pid->error_previous = 0;
-	pid->integral = 0;
-}
-__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit)
-{
-	int ret = 0;
-
-	if (isfinite(kp)) {
-		pid->kp = kp;
-
-	} else {
-		ret = 1;
-	}
-
-	if (isfinite(ki)) {
-		pid->ki = ki;
-
-	} else {
-		ret = 1;
-	}
-
-	if (isfinite(kd)) {
-		pid->kd = kd;
-
-	} else {
-		ret = 1;
-	}
-
-	if (isfinite(intmax)) {
-		pid->intmax = intmax;
-
-	}  else {
-		ret = 1;
-	}
-
-	if (isfinite(limit)) {
-		pid->limit = limit;
-
-	}  else {
-		ret = 1;
-	}
-
-	return ret;
-}
-
-//void pid_set(PID_t *pid, float sp)
-//{
-//	pid->sp = sp;
-//	pid->error_previous = 0;
-//	pid->integral = 0;
-//}
-
-/**
- *
- * @param pid
- * @param val
- * @param dt
- * @return
- */
-__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
-{
-	/*  error = setpoint - actual_position
-	 integral = integral + (error*dt)
-	 derivative = (error - previous_error)/dt
-	 output = (Kp*error) + (Ki*integral) + (Kd*derivative)
-	 previous_error = error
-	 wait(dt)
-	 goto start
-	 */
-
-	if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
-		return pid->last_output;
-	}
-
-	float i, d;
-	pid->sp = sp;
-
-	// Calculated current error value
-	float error = pid->sp - val;
-
-	if (isfinite(error)) {				// Why is this necessary?  DEW
-		pid->error_previous = error;
-	}
-
-	// Calculate or measured current error derivative
-
-	if (pid->mode == PID_MODE_DERIVATIV_CALC) {
-		d = (error - pid->error_previous) / dt;
-
-	} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
-		d = -val_dot;
-
-	} else {
-		d = 0.0f;
-	}
-
-	// Calculate the error integral and check for saturation
-	i = pid->integral + (error * dt);
-
-	if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
-	    fabsf(i) > pid->intmax) {
-		i = pid->integral;		// If saturated then do not update integral value
-		pid->saturated = 1;
-
-	} else {
-		if (!isfinite(i)) {
-			i = 0;
-		}
-
-		pid->integral = i;
-		pid->saturated = 0;
-	}
-
-	// Calculate the output.  Limit output magnitude to pid->limit
-	float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
-
-	if (output > pid->limit) output = pid->limit;
-
-	if (output < -pid->limit) output = -pid->limit;
-
-	if (isfinite(output)) {
-		pid->last_output = output;
-	}
-
-
-	return pid->last_output;
-}
-
-
-__EXPORT void pid_reset_integral(PID_t *pid)
-{
-	pid->integral = 0;
-}
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h
deleted file mode 100644
index 64d668867..000000000
--- a/apps/systemlib/pid/pid.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Laurens Mackay <mackayl@student.ethz.ch>
- *           @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
- *
- * 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 pid.h
- * Definition of generic PID control interface
- */
-
-#ifndef PID_H_
-#define PID_H_
-
-#include <stdint.h>
-
-/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
- * val_dot in pid_calculate() will be ignored */
-#define PID_MODE_DERIVATIV_CALC	0
-/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
-#define PID_MODE_DERIVATIV_SET	1
-// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
-#define PID_MODE_DERIVATIV_NONE 9
-
-typedef struct {
-	float kp;
-	float ki;
-	float kd;
-	float intmax;
-	float sp;
-	float integral;
-	float error_previous;
-	float last_output;
-	float limit;
-	uint8_t mode;
-	uint8_t count;
-	uint8_t saturated;
-} PID_t;
-
-__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode);
-__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
-//void pid_set(PID_t *pid, float sp);
-__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
-
-__EXPORT void pid_reset_integral(PID_t *pid);
-
-
-#endif /* PID_H_ */