diff options
| -rw-r--r-- | makefiles/config_px4fmu_default.mk | 8 | ||||
| -rwxr-xr-x[-rw-r--r--] | src/modules/multirotor_att_control/module.mk (renamed from apps/multirotor_pos_control/Makefile) | 12 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c (renamed from apps/multirotor_att_control/multirotor_att_control_main.c) | 0 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c (renamed from apps/multirotor_att_control/multirotor_attitude_control.c) | 0 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.h (renamed from apps/multirotor_att_control/multirotor_attitude_control.h) | 0 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c (renamed from apps/multirotor_att_control/multirotor_rate_control.c) | 0 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.h (renamed from apps/multirotor_att_control/multirotor_rate_control.h) | 0 | ||||
| -rw-r--r--[-rwxr-xr-x] | src/modules/multirotor_pos_control/module.mk (renamed from apps/multirotor_att_control/Makefile) | 11 | ||||
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c (renamed from apps/multirotor_pos_control/multirotor_pos_control.c) | 0 | ||||
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c (renamed from apps/multirotor_pos_control/multirotor_pos_control_params.c) | 0 | ||||
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.h (renamed from apps/multirotor_pos_control/multirotor_pos_control_params.h) | 0 | ||||
| -rw-r--r-- | src/modules/multirotor_pos_control/position_control.c (renamed from apps/multirotor_pos_control/position_control.c) | 0 | ||||
| -rw-r--r-- | src/modules/multirotor_pos_control/position_control.h (renamed from apps/multirotor_pos_control/position_control.h) | 0 | ||||
| -rw-r--r-- | src/modules/position_estimator/.context (renamed from apps/position_estimator/.context) | 0 | ||||
| -rw-r--r-- | src/modules/position_estimator/module.mk (renamed from apps/position_estimator/Makefile) | 12 | ||||
| -rw-r--r-- | src/modules/position_estimator/position_estimator_main.c (renamed from apps/position_estimator/position_estimator_main.c) | 0 |
16 files changed, 20 insertions, 23 deletions
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 6fd7da461..fea9a814d 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -54,6 +54,7 @@ MODULES += modules/mavlink_onboard # MODULES += modules/attitude_estimator_ekf MODULES += modules/position_estimator_mc +MODULES += modules/position_estimator MODULES += modules/att_pos_estimator_ekf # @@ -62,6 +63,8 @@ MODULES += modules/att_pos_estimator_ekf MODULES += modules/fixedwing_backside MODULES += modules/fixedwing_att_control MODULES += modules/fixedwing_pos_control +MODULES += modules/multirotor_att_control +MODULES += modules/multirotor_pos_control # # Logging @@ -83,12 +86,7 @@ endef # command priority stack entrypoint BUILTIN_COMMANDS := \ $(call _B, adc, , 2048, adc_main ) \ - $(call _B, control_demo, , 2048, control_demo_main ) \ - $(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \ - $(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ - $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ $(call _B, sercon, , 2048, sercon_main ) \ $(call _B, serdis, , 2048, serdis_main ) \ $(call _B, tone_alarm, , 2048, tone_alarm_main ) \ diff --git a/apps/multirotor_pos_control/Makefile b/src/modules/multirotor_att_control/module.mk index c88c85435..2fd52c162 100644..100755 --- a/apps/multirotor_pos_control/Makefile +++ b/src/modules/multirotor_att_control/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 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 @@ -32,11 +32,11 @@ ############################################################################ # -# Makefile to build multirotor position control +# Makefile to build the multirotor attitude controller # -APPNAME = multirotor_pos_control -PRIORITY = SCHED_PRIORITY_MAX - 25 -STACKSIZE = 2048 +MODULE_COMMAND = multirotor_att_control -include $(APPDIR)/mk/app.mk +SRCS = multirotor_att_control_main.c \ + multirotor_attitude_control.c \ + multirotor_rate_control.c diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index d94c0a69c..d94c0a69c 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 76dbb36d3..76dbb36d3 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h index 2cf83e443..2cf83e443 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.h +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.h diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index deba1ac03..deba1ac03 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h index 03dec317a..03dec317a 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.h +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h diff --git a/apps/multirotor_att_control/Makefile b/src/modules/multirotor_pos_control/module.mk index 03cf33e43..d04847745 100755..100644 --- a/apps/multirotor_att_control/Makefile +++ b/src/modules/multirotor_pos_control/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 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 @@ -32,11 +32,10 @@ ############################################################################ # -# Makefile to build uORB +# Build multirotor position control # -APPNAME = multirotor_att_control -PRIORITY = SCHED_PRIORITY_MAX - 15 -STACKSIZE = 2048 +MODULE_COMMAND = multirotor_pos_control -include $(APPDIR)/mk/app.mk +SRCS = multirotor_pos_control.c \ + multirotor_pos_control_params.c diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 7b8d83aa8..7b8d83aa8 100644 --- a/apps/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 6b73dc405..6b73dc405 100644 --- a/apps/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h index 274f6c22a..274f6c22a 100644 --- a/apps/multirotor_pos_control/multirotor_pos_control_params.h +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h diff --git a/apps/multirotor_pos_control/position_control.c b/src/modules/multirotor_pos_control/position_control.c index 9c53a5bf6..9c53a5bf6 100644 --- a/apps/multirotor_pos_control/position_control.c +++ b/src/modules/multirotor_pos_control/position_control.c diff --git a/apps/multirotor_pos_control/position_control.h b/src/modules/multirotor_pos_control/position_control.h index 2144ebc34..2144ebc34 100644 --- a/apps/multirotor_pos_control/position_control.h +++ b/src/modules/multirotor_pos_control/position_control.h diff --git a/apps/position_estimator/.context b/src/modules/position_estimator/.context index e69de29bb..e69de29bb 100644 --- a/apps/position_estimator/.context +++ b/src/modules/position_estimator/.context diff --git a/apps/position_estimator/Makefile b/src/modules/position_estimator/module.mk index cc5072152..f64095d9d 100644 --- a/apps/position_estimator/Makefile +++ b/src/modules/position_estimator/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 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 @@ -35,10 +35,10 @@ # Makefile to build the position estimator # -APPNAME = position_estimator -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = position_estimator -CSRCS = position_estimator_main.c +# XXX this should be converted to a deamon, its a pretty bad example app +MODULE_PRIORITY = SCHED_PRIORITY_DEFAULT +MODULE_STACKSIZE = 4096 -include $(APPDIR)/mk/app.mk +SRCS = position_estimator_main.c diff --git a/apps/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c index e84945299..e84945299 100644 --- a/apps/position_estimator/position_estimator_main.c +++ b/src/modules/position_estimator/position_estimator_main.c |