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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-16 08:24:51 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-16 08:24:51 +0100 |
commit | 9520983e08397c453af735d0ff0736cc007c2c45 (patch) | |
tree | 171df31a96bd6863c5dfd94242274177f9413dd2 /src/platforms | |
parent | 9980e4482146333340cc105b560bdbd26acb999f (diff) | |
download | px4-firmware-9520983e08397c453af735d0ff0736cc007c2c45.tar.gz px4-firmware-9520983e08397c453af735d0ff0736cc007c2c45.tar.bz2 px4-firmware-9520983e08397c453af735d0ff0736cc007c2c45.zip |
lots' of header juggling and small changes to make mc att control compile for NuttX and ROS
Diffstat (limited to 'src/platforms')
-rw-r--r-- | src/platforms/px4_defines.h | 37 | ||||
-rw-r--r-- | src/platforms/px4_includes.h | 13 | ||||
-rw-r--r-- | src/platforms/ros/circuit_breaker.cpp | 56 | ||||
-rw-r--r-- | src/platforms/ros/geo.cpp | 165 |
4 files changed, 270 insertions, 1 deletions
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index a1bf9919e..712e0dd63 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -51,7 +51,10 @@ * Building for running within the ROS environment */ #define __EXPORT +#define noreturn_function +#ifdef __cplusplus #include "ros/ros.h" +#endif /* Main entry point */ #define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv) @@ -63,7 +66,7 @@ #define PX4_TOPIC(_name) #_name /* Topic type */ -#define PX4_TOPIC_T(_name) _name +#define PX4_TOPIC_T(_name) px4::_name /* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */ #define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, _objptr); @@ -93,6 +96,38 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value) /* Get value of parameter */ #define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt) +#define OK 0 +#define ERROR -1 + +//XXX hack to be able to use isfinte from math.h, -D_GLIBCXX_USE_C99_MATH seems not to work +#define isfinite(_value) std::isfinite(_value) + +/* Useful constants. */ +#define M_E_F 2.7182818284590452354f +#define M_LOG2E_F 1.4426950408889634074f +#define M_LOG10E_F 0.43429448190325182765f +#define M_LN2_F _M_LN2_F +#define M_LN10_F 2.30258509299404568402f +#define M_PI_F 3.14159265358979323846f +#define M_TWOPI_F (M_PI_F * 2.0f) +#define M_PI_2_F 1.57079632679489661923f +#define M_PI_4_F 0.78539816339744830962f +#define M_3PI_4_F 2.3561944901923448370E0f +#define M_SQRTPI_F 1.77245385090551602792981f +#define M_1_PI_F 0.31830988618379067154f +#define M_2_PI_F 0.63661977236758134308f +#define M_2_SQRTPI_F 1.12837916709551257390f +#define M_DEG_TO_RAD_F 0.01745329251994f +#define M_RAD_TO_DEG_F 57.2957795130823f +#define M_SQRT2_F 1.41421356237309504880f +#define M_SQRT1_2_F 0.70710678118654752440f +#define M_LN2LO_F 1.9082149292705877000E-10f +#define M_LN2HI_F 6.9314718036912381649E-1f +#define M_SQRT3_F 1.73205080756887719000f +#define M_IVLN10_F 0.43429448190325182765f /* 1 / log(10) */ +#define M_LOG2_E_F _M_LN2_F +#define M_INVLN2_F 1.4426950408889633870E0f /* 1 / log(2) */ + #else /* * Building for NuttX diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h index 525f94aae..752c6b5fe 100644 --- a/src/platforms/px4_includes.h +++ b/src/platforms/px4_includes.h @@ -45,8 +45,21 @@ /* * Building for running within the ROS environment */ + +#ifdef __cplusplus #include "ros/ros.h" #include "px4/rc_channels.h" +#include "px4/vehicle_attitude.h" +#include <px4/vehicle_attitude_setpoint.h> +#include <px4/manual_control_setpoint.h> +#include <px4/actuator_controls.h> +#include <px4/actuator_controls_0.h> +#include <px4/vehicle_rates_setpoint.h> +#include <px4/vehicle_attitude.h> +#include <px4/vehicle_control_mode.h> +#include <px4/actuator_armed.h> +#include <px4/parameter_update.h> +#endif #else /* diff --git a/src/platforms/ros/circuit_breaker.cpp b/src/platforms/ros/circuit_breaker.cpp new file mode 100644 index 000000000..1e912d3ac --- /dev/null +++ b/src/platforms/ros/circuit_breaker.cpp @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (c) 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 circuit_breaker.c + * + * Circuit breaker parameters. + * Analog to real aviation circuit breakers these parameters + * allow to disable subsystems. They are not supported as standard + * operation procedure and are only provided for development purposes. + * To ensure they are not activated accidentally, the associated + * parameter needs to set to the key (magic). + */ + +#include <px4.h> +#include <systemlib/circuit_breaker_params.h> +#include <systemlib/circuit_breaker.h> + +bool circuit_breaker_enabled(const char* breaker, int32_t magic) +{ + int32_t val; + (void)PX4_PARAM_GET(breaker, &val); + + return (val == magic); +} + diff --git a/src/platforms/ros/geo.cpp b/src/platforms/ros/geo.cpp new file mode 100644 index 000000000..a7ee6fd84 --- /dev/null +++ b/src/platforms/ros/geo.cpp @@ -0,0 +1,165 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 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 geo.c + * + * Geo / math functions to perform geodesic calculations + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#include <geo/geo.h> +#include <px4.h> +#include <unistd.h> +#include <pthread.h> +#include <stdio.h> +#include <math.h> +#include <stdbool.h> +#include <string.h> +#include <float.h> + +__EXPORT float _wrap_pi(float bearing) +{ + /* value is inf or NaN */ + if (!isfinite(bearing)) { + return bearing; + } + + int c = 0; + while (bearing >= M_PI_F) { + bearing -= M_TWOPI_F; + + if (c++ > 3) { + return NAN; + } + } + + c = 0; + while (bearing < -M_PI_F) { + bearing += M_TWOPI_F; + + if (c++ > 3) { + return NAN; + } + } + + return bearing; +} + +__EXPORT float _wrap_2pi(float bearing) +{ + /* value is inf or NaN */ + if (!isfinite(bearing)) { + return bearing; + } + + int c = 0; + while (bearing >= M_TWOPI_F) { + bearing -= M_TWOPI_F; + + if (c++ > 3) { + return NAN; + } + } + + c = 0; + while (bearing < 0.0f) { + bearing += M_TWOPI_F; + + if (c++ > 3) { + return NAN; + } + } + + return bearing; +} + +__EXPORT float _wrap_180(float bearing) +{ + /* value is inf or NaN */ + if (!isfinite(bearing)) { + return bearing; + } + + int c = 0; + while (bearing >= 180.0f) { + bearing -= 360.0f; + + if (c++ > 3) { + return NAN; + } + } + + c = 0; + while (bearing < -180.0f) { + bearing += 360.0f; + + if (c++ > 3) { + return NAN; + } + } + + return bearing; +} + +__EXPORT float _wrap_360(float bearing) +{ + /* value is inf or NaN */ + if (!isfinite(bearing)) { + return bearing; + } + + int c = 0; + while (bearing >= 360.0f) { + bearing -= 360.0f; + + if (c++ > 3) { + return NAN; + } + } + + c = 0; + while (bearing < 0.0f) { + bearing += 360.0f; + + if (c++ > 3) { + return NAN; + } + } + + return bearing; +} |