mc att: convert param definitions to be compatible with multiplatform build

2 files changed, 86 insertions, 20 deletions

diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 819847b40..bbbfd829b 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -40,6 +40,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
+#include "mc_att_control_params.h""
 #include <systemlib/param/param.h>
 
 /**
@@ -50,7 +51,7 @@
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
 
 /**
  * Roll rate P gain
@@ -60,7 +61,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
+PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
 
 /**
  * Roll rate I gain
@@ -70,7 +71,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
 
 /**
  * Roll rate D gain
@@ -80,7 +81,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
+PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
 
 /**
  * Pitch P gain
@@ -91,7 +92,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
 
 /**
  * Pitch rate P gain
@@ -101,7 +102,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
+PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
 
 /**
  * Pitch rate I gain
@@ -111,7 +112,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
 
 /**
  * Pitch rate D gain
@@ -121,7 +122,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
+PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
 
 /**
  * Yaw P gain
@@ -132,7 +133,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
 
 /**
  * Yaw rate P gain
@@ -142,7 +143,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
+PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
 
 /**
  * Yaw rate I gain
@@ -152,7 +153,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
 
 /**
  * Yaw rate D gain
@@ -162,7 +163,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
 
 /**
  * Yaw feed forward
@@ -173,7 +174,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
  * @max 1.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
+PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
 
 /**
  * Max yaw rate
@@ -185,7 +186,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
 
 /**
  * Max manual roll
@@ -195,7 +196,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
  * @max 90.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX);
 
 /**
  * Max manual pitch
@@ -205,7 +206,7 @@ PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
  * @max 90.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX);
 
 /**
  * Max manual yaw rate
@@ -214,7 +215,7 @@ PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX);
 
 /**
  * Max acro roll rate
@@ -224,7 +225,7 @@ PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
 
 /**
  * Max acro pitch rate
@@ -234,7 +235,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
 
 /**
  * Max acro yaw rate
@@ -243,4 +244,4 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);
+PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX);
diff --git a/src/modules/mc_att_control/mc_att_control_params.h b/src/modules/mc_att_control/mc_att_control_params.h
new file mode 100644
index 000000000..59dd5240f
--- /dev/null
+++ b/src/modules/mc_att_control/mc_att_control_params.h
@@ -0,0 +1,65 @@
+
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 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_params.h
+ * Parameters for multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+#pragma once
+
+#define PARAM_MC_ROLL_P_DEFAULT 6.0f
+#define PARAM_MC_ROLLRATE_P_DEFAULT 0.1f
+#define PARAM_MC_ROLLRATE_I_DEFAULT 0.0f
+#define PARAM_MC_ROLLRATE_D_DEFAULT 0.002f
+#define PARAM_MC_PITCH_P_DEFAULT 6.0f
+#define PARAM_MC_PITCHRATE_P_DEFAULT 0.1f
+#define PARAM_MC_PITCHRATE_I_DEFAULT 0.0f
+#define PARAM_MC_PITCHRATE_D_DEFAULT 0.002f
+#define PARAM_MC_YAW_P_DEFAULT 2.0f
+#define PARAM_MC_YAWRATE_P_DEFAULT 0.3f
+#define PARAM_MC_YAWRATE_I_DEFAULT 0.0f
+#define PARAM_MC_YAWRATE_D_DEFAULT 0.0f
+#define PARAM_MC_YAW_FF_DEFAULT 0.5f
+#define PARAM_MC_YAWRATE_MAX_DEFAULT 120.0f
+#define PARAM_MC_MAN_R_MAX_DEFAULT 35.0f
+#define PARAM_MC_MAN_P_MAX_DEFAULT 35.0f
+#define PARAM_MC_MAN_Y_MAX_DEFAULT 120.0f
+#define PARAM_MC_ACRO_R_MAX_DEFAULT 35.0f
+#define PARAM_MC_ACRO_P_MAX_DEFAULT 35.0f
+#define PARAM_MC_ACRO_Y_MAX_DEFAULT 120.0f