Merge branch 'fixedwing_outdoor' of github.com:PX4/Firmware into fixedwing_outdoor

3 files changed, 55 insertions, 0 deletions

diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
index 0358caa25..49315cdc9 100644
--- a/apps/systemlib/pid/pid.c
+++ b/apps/systemlib/pid/pid.c
@@ -183,3 +183,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 
 	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
index b51afef9e..64d668867 100644
--- a/apps/systemlib/pid/pid.h
+++ b/apps/systemlib/pid/pid.h
@@ -72,6 +72,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 //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_ */
diff --git a/apps/systemlib/scheduling_priorities.h b/apps/systemlib/scheduling_priorities.h
new file mode 100644
index 000000000..be1dbfcd8
--- /dev/null
+++ b/apps/systemlib/scheduling_priorities.h
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <nuttx/sched.h>
+
+/*      SCHED_PRIORITY_MAX    */
+#define SCHED_PRIORITY_FAST_DRIVER           SCHED_PRIORITY_MAX
+#define SCHED_PRIORITY_WATCHDOG             (SCHED_PRIORITY_MAX - 5)
+#define SCHED_PRIORITY_ACTUATOR_OUTPUTS     (SCHED_PRIORITY_MAX - 15)
+#define SCHED_PRIORITY_ATTITUDE_CONTROL     (SCHED_PRIORITY_MAX - 25)
+#define SCHED_PRIORITY_SLOW_DRIVER          (SCHED_PRIORITY_MAX - 35)
+#define SCHED_PRIORITY_POSITION_CONTROL     (SCHED_PRIORITY_MAX - 40)
+/*      SCHED_PRIORITY_DEFAULT    */
+#define SCHED_PRIORITY_LOGGING              (SCHED_PRIORITY_DEFAULT - 10)
+#define SCHED_PRIORITY_PARAMS               (SCHED_PRIORITY_DEFAULT - 15)
+/*      SCHED_PRIORITY_IDLE    */