diff options
| -rw-r--r-- | apps/drivers/mpu6000/Makefile | 42 | ||||
| -rw-r--r-- | apps/examples/control_demo/Makefile | 42 | ||||
| -rw-r--r-- | apps/examples/kalman_demo/Makefile | 42 | ||||
| -rw-r--r-- | apps/fixedwing_pos_control/Makefile | 45 | ||||
| -rw-r--r-- | apps/hott_telemetry/Makefile | 45 | ||||
| -rwxr-xr-x | apps/multirotor_att_control/Makefile | 42 | ||||
| -rw-r--r-- | apps/multirotor_pos_control/Makefile | 42 | ||||
| -rw-r--r-- | makefiles/config_px4fmu_default.mk | 38 | ||||
| -rw-r--r-- | src/drivers/blinkm/blinkm.cpp (renamed from apps/drivers/blinkm/blinkm.cpp) | 0 | ||||
| -rw-r--r-- | src/drivers/blinkm/module.mk (renamed from apps/drivers/blinkm/Makefile) | 8 | ||||
| -rw-r--r-- | src/drivers/bma180/bma180.cpp (renamed from apps/drivers/bma180/bma180.cpp) | 0 | ||||
| -rw-r--r-- | src/drivers/bma180/module.mk (renamed from apps/drivers/bma180/Makefile) | 8 | ||||
| -rw-r--r-- | src/drivers/gps/gps.cpp (renamed from apps/drivers/gps/gps.cpp) | 0 | ||||
| -rw-r--r-- | src/drivers/gps/gps_helper.cpp (renamed from apps/drivers/gps/gps_helper.cpp) | 0 | ||||
| -rw-r--r-- | src/drivers/gps/gps_helper.h (renamed from apps/drivers/gps/gps_helper.h) | 0 | ||||
| -rw-r--r-- | src/drivers/gps/module.mk (renamed from apps/drivers/gps/Makefile) | 11 | ||||
| -rw-r--r-- | src/drivers/gps/mtk.cpp (renamed from apps/drivers/gps/mtk.cpp) | 0 | ||||
| -rw-r--r-- | src/drivers/gps/mtk.h (renamed from apps/drivers/gps/mtk.h) | 0 | ||||
| -rw-r--r-- | src/drivers/gps/ubx.cpp (renamed from apps/drivers/gps/ubx.cpp) | 0 | ||||
| -rw-r--r-- | src/drivers/gps/ubx.h (renamed from apps/drivers/gps/ubx.h) | 0 | ||||
| -rw-r--r-- | src/drivers/hil/hil.cpp (renamed from apps/drivers/hil/hil.cpp) | 0 | ||||
| -rw-r--r-- | src/drivers/hil/module.mk (renamed from apps/drivers/hmc5883/Makefile) | 10 | ||||
| -rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp (renamed from apps/drivers/hmc5883/hmc5883.cpp) | 0 | ||||
| -rw-r--r-- | src/drivers/hmc5883/module.mk (renamed from apps/drivers/hil/Makefile) | 13 | ||||
| -rw-r--r-- | src/drivers/hott_telemetry/hott_telemetry_main.c (renamed from apps/hott_telemetry/hott_telemetry_main.c) | 12 | ||||
| -rw-r--r-- | src/drivers/hott_telemetry/messages.c (renamed from apps/hott_telemetry/messages.c) | 6 | ||||
| -rw-r--r-- | src/drivers/hott_telemetry/messages.h (renamed from apps/hott_telemetry/messages.h) | 5 | ||||
| -rw-r--r-- | src/drivers/hott_telemetry/module.mk | 41 | ||||
| -rw-r--r-- | src/drivers/mb12xx/mb12xx.cpp (renamed from apps/drivers/mb12xx/mb12xx.cpp) | 2 | ||||
| -rw-r--r-- | src/drivers/mb12xx/module.mk (renamed from apps/drivers/mb12xx/Makefile) | 8 | ||||
| -rw-r--r-- | src/drivers/mpu6000/module.mk | 43 | ||||
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp (renamed from apps/drivers/mpu6000/mpu6000.cpp) | 2 | ||||
| -rw-r--r-- | src/drivers/ms5611/module.mk (renamed from apps/drivers/ms5611/Makefile) | 8 | ||||
| -rw-r--r-- | src/drivers/ms5611/ms5611.cpp (renamed from apps/drivers/ms5611/ms5611.cpp) | 0 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp (renamed from apps/examples/kalman_demo/KalmanNav.cpp) | 0 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.hpp (renamed from apps/examples/kalman_demo/KalmanNav.hpp) | 0 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/kalman_main.cpp (renamed from apps/examples/kalman_demo/kalman_demo.cpp) | 4 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/module.mk (renamed from apps/fixedwing_att_control/Makefile) | 16 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/params.c (renamed from apps/examples/kalman_demo/params.c) | 0 | ||||
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_att.c (renamed from apps/fixedwing_att_control/fixedwing_att_control_att.c) | 3 | ||||
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_att.h (renamed from apps/fixedwing_att_control/fixedwing_att_control_att.h) | 0 | ||||
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_main.c (renamed from apps/fixedwing_att_control/fixedwing_att_control_main.c) | 5 | ||||
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_rate.c (renamed from apps/fixedwing_att_control/fixedwing_att_control_rate.c) | 6 | ||||
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_rate.h (renamed from apps/fixedwing_att_control/fixedwing_att_control_rate.h) | 0 | ||||
| -rw-r--r-- | src/modules/fixedwing_att_control/module.mk | 42 | ||||
| -rw-r--r-- | src/modules/fixedwing_backside/fixedwing_backside_main.cpp (renamed from apps/examples/control_demo/control_demo.cpp) | 14 | ||||
| -rw-r--r-- | src/modules/fixedwing_backside/module.mk | 40 | ||||
| -rw-r--r-- | src/modules/fixedwing_backside/params.c (renamed from apps/examples/control_demo/params.c) | 0 | ||||
| -rw-r--r-- | src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c (renamed from apps/fixedwing_pos_control/fixedwing_pos_control_main.c) | 0 | ||||
| -rw-r--r-- | src/modules/fixedwing_pos_control/module.mk | 40 | ||||
| -rw-r--r-- | src/modules/mavlink/.context | 0 | ||||
| -rwxr-xr-x | src/modules/multirotor_att_control/module.mk | 42 | ||||
| -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-- | src/modules/multirotor_pos_control/module.mk | 41 | ||||
| -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/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 |
65 files changed, 383 insertions, 397 deletions
diff --git a/apps/drivers/mpu6000/Makefile b/apps/drivers/mpu6000/Makefile deleted file mode 100644 index 32df1bdae..000000000 --- a/apps/drivers/mpu6000/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -# -# Makefile to build the BMA180 driver. -# - -APPNAME = mpu6000 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/control_demo/Makefile b/apps/examples/control_demo/Makefile deleted file mode 100644 index 6e40e645f..000000000 --- a/apps/examples/control_demo/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = control_demo -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/kalman_demo/Makefile b/apps/examples/kalman_demo/Makefile deleted file mode 100644 index 99c34d934..000000000 --- a/apps/examples/kalman_demo/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = kalman_demo -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/fixedwing_pos_control/Makefile b/apps/fixedwing_pos_control/Makefile deleted file mode 100644 index bce391f49..000000000 --- a/apps/fixedwing_pos_control/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -# -# Fixedwing Control application -# - -APPNAME = fixedwing_pos_control -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk - diff --git a/apps/hott_telemetry/Makefile b/apps/hott_telemetry/Makefile deleted file mode 100644 index 8d5faa3b7..000000000 --- a/apps/hott_telemetry/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -# -# Graupner HoTT Telemetry application. -# - -# The following line is required for accessing UARTs directly. -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -APPNAME = hott_telemetry -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/multirotor_att_control/Makefile b/apps/multirotor_att_control/Makefile deleted file mode 100755 index 03cf33e43..000000000 --- a/apps/multirotor_att_control/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -# -# Makefile to build uORB -# - -APPNAME = multirotor_att_control -PRIORITY = SCHED_PRIORITY_MAX - 15 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/multirotor_pos_control/Makefile b/apps/multirotor_pos_control/Makefile deleted file mode 100644 index c88c85435..000000000 --- a/apps/multirotor_pos_control/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -# -# Makefile to build multirotor position control -# - -APPNAME = multirotor_pos_control -PRIORITY = SCHED_PRIORITY_MAX - 25 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 0e03641db..e332efa68 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -10,12 +10,21 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common # # Board support modules # +MODULES += drivers/px4io MODULES += drivers/px4fmu MODULES += drivers/boards/px4fmu MODULES += drivers/lsm303d -MODULES += drivers/l3gd20 MODULES += drivers/ardrone_interface -MODULES += drivers/px4io +MODULES += drivers/l3gd20 +MODULES += drivers/bma180 +MODULES += drivers/mpu6000 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 +MODULES += drivers/mb12xx +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += drivers/hott_telemetry +MODULES += drivers/blinkm MODULES += modules/sensors # @@ -46,6 +55,17 @@ MODULES += modules/mavlink_onboard # MODULES += modules/attitude_estimator_ekf MODULES += modules/position_estimator_mc +MODULES += modules/position_estimator +MODULES += modules/att_pos_estimator_ekf + +# +# Vehicle Control +# +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 @@ -67,21 +87,7 @@ endef # command priority stack entrypoint BUILTIN_COMMANDS := \ $(call _B, adc, , 2048, adc_main ) \ - $(call _B, blinkm, , 2048, blinkm_main ) \ - $(call _B, bma180, , 2048, bma180_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, gps, , 2048, gps_main ) \ - $(call _B, hil, , 2048, hil_main ) \ - $(call _B, hmc5883, , 4096, hmc5883_main ) \ - $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ - $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, mpu6000, , 4096, mpu6000_main ) \ - $(call _B, ms5611, , 2048, ms5611_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/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index 3fabfd9a5..3fabfd9a5 100644 --- a/apps/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp diff --git a/apps/drivers/blinkm/Makefile b/src/drivers/blinkm/module.mk index 5a623693d..b48b90f3f 100644 --- a/apps/drivers/blinkm/Makefile +++ b/src/drivers/blinkm/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 @@ -35,8 +35,6 @@ # BlinkM I2C LED driver # -APPNAME = blinkm -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = blinkm -include $(APPDIR)/mk/app.mk +SRCS = blinkm.cpp diff --git a/apps/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp index 4409a8a9c..4409a8a9c 100644 --- a/apps/drivers/bma180/bma180.cpp +++ b/src/drivers/bma180/bma180.cpp diff --git a/apps/drivers/bma180/Makefile b/src/drivers/bma180/module.mk index cc01b629e..4c60ee082 100644 --- a/apps/drivers/bma180/Makefile +++ b/src/drivers/bma180/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 @@ -35,8 +35,6 @@ # Makefile to build the BMA180 driver. # -APPNAME = bma180 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = bma180 -include $(APPDIR)/mk/app.mk +SRCS = bma180.cpp diff --git a/apps/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index e35bdb944..e35bdb944 100644 --- a/apps/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp diff --git a/apps/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index 9c1fad569..9c1fad569 100644 --- a/apps/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp diff --git a/apps/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h index f3d3bc40b..f3d3bc40b 100644 --- a/apps/drivers/gps/gps_helper.h +++ b/src/drivers/gps/gps_helper.h diff --git a/apps/drivers/gps/Makefile b/src/drivers/gps/module.mk index 3859a88a5..097db2abf 100644 --- a/apps/drivers/gps/Makefile +++ b/src/drivers/gps/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 @@ -35,8 +35,9 @@ # GPS driver # -APPNAME = gps -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = gps -include $(APPDIR)/mk/app.mk +SRCS = gps.cpp \ + gps_helper.cpp \ + mtk.cpp \ + ubx.cpp diff --git a/apps/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 4762bd503..4762bd503 100644 --- a/apps/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp diff --git a/apps/drivers/gps/mtk.h b/src/drivers/gps/mtk.h index d4e390b01..d4e390b01 100644 --- a/apps/drivers/gps/mtk.h +++ b/src/drivers/gps/mtk.h diff --git a/apps/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index c150f5271..c150f5271 100644 --- a/apps/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp diff --git a/apps/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index e3dd1c7ea..e3dd1c7ea 100644 --- a/apps/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h diff --git a/apps/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index d9aa772d4..d9aa772d4 100644 --- a/apps/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp diff --git a/apps/drivers/hmc5883/Makefile b/src/drivers/hil/module.mk index 4d7cb4e7b..f8895f5d5 100644 --- a/apps/drivers/hmc5883/Makefile +++ b/src/drivers/hil/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 +32,9 @@ ############################################################################ # -# HMC5883 driver +# Hardware in the Loop (HIL) simulation actuator output bank # -APPNAME = hmc5883 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = hil -include $(APPDIR)/mk/app.mk +SRCS = hil.cpp diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 8ab568282..8ab568282 100644 --- a/apps/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp diff --git a/apps/drivers/hil/Makefile b/src/drivers/hmc5883/module.mk index 1fb6e37bc..07377556d 100644 --- a/apps/drivers/hil/Makefile +++ b/src/drivers/hmc5883/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 +32,12 @@ ############################################################################ # -# Interface driver for the PX4FMU board +# HMC5883 driver # -APPNAME = hil -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = hmc5883 -include $(APPDIR)/mk/app.mk +# XXX seems excessive, check if 2048 is sufficient +MODULE_STACKSIZE = 4096 + +SRCS = hmc5883.cpp diff --git a/apps/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c index 31c9247aa..a13a6ef58 100644 --- a/apps/hott_telemetry/hott_telemetry_main.c +++ b/src/drivers/hott_telemetry/hott_telemetry_main.c @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks <sjwilks@gmail.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks <sjwilks@gmail.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,6 +34,7 @@ /** * @file hott_telemetry_main.c + * @author Simon Wilks <sjwilks@gmail.com> * * Graupner HoTT Telemetry implementation. * @@ -41,7 +42,6 @@ * a data packet can be returned if necessary. * * TODO: Add support for at least the vario and GPS sensor data. - * */ #include <fcntl.h> @@ -57,12 +57,6 @@ #include "messages.h" -/* The following are equired for UART direct manipulation. */ -#include <arch/board/board.h> -#include "up_arch.h" -#include "chip.h" -#include "stm32_internal.h" - static int thread_should_exit = false; /**< Deamon exit flag */ static int thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ diff --git a/apps/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c index 8bfb99773..5fbee16ce 100644 --- a/apps/hott_telemetry/messages.c +++ b/src/drivers/hott_telemetry/messages.c @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks <sjwilks@gmail.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks <sjwilks@gmail.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,7 +34,7 @@ /** * @file messages.c - * + * @author Simon Wilks <sjwilks@gmail.com> */ #include "messages.h" diff --git a/apps/hott_telemetry/messages.h b/src/drivers/hott_telemetry/messages.h index 44001e04f..dd38075fa 100644 --- a/apps/hott_telemetry/messages.h +++ b/src/drivers/hott_telemetry/messages.h @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks <sjwilks@gmail.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks <sjwilks@gmail.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,6 +34,7 @@ /** * @file messages.h + * @author Simon Wilks <sjwilks@gmail.com> * * Graupner HoTT Telemetry message generation. * diff --git a/src/drivers/hott_telemetry/module.mk b/src/drivers/hott_telemetry/module.mk new file mode 100644 index 000000000..def1d59e9 --- /dev/null +++ b/src/drivers/hott_telemetry/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# 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 +# 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. +# +############################################################################ + +# +# Graupner HoTT Telemetry application. +# + +MODULE_COMMAND = hott_telemetry + +SRCS = hott_telemetry_main.c \ + messages.c diff --git a/apps/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp index 9d0f6bddc..397686e8b 100644 --- a/apps/drivers/mb12xx/mb12xx.cpp +++ b/src/drivers/mb12xx/mb12xx.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 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 diff --git a/apps/drivers/mb12xx/Makefile b/src/drivers/mb12xx/module.mk index 0d2405787..4e00ada02 100644 --- a/apps/drivers/mb12xx/Makefile +++ b/src/drivers/mb12xx/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 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 @@ -35,8 +35,6 @@ # Makefile to build the Maxbotix Sonar driver. # -APPNAME = mb12xx -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = mb12xx -include $(APPDIR)/mk/app.mk +SRCS = mb12xx.cpp diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk new file mode 100644 index 000000000..c7d9cd3ef --- /dev/null +++ b/src/drivers/mpu6000/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# 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 +# 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. +# +############################################################################ + +# +# Makefile to build the MPU6000 driver. +# + +MODULE_COMMAND = mpu6000 + +# XXX seems excessive, check if 2048 is not sufficient +MODULE_STACKSIZE = 4096 + +SRCS = mpu6000.cpp diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index ce7062046..df1958186 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -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 diff --git a/apps/drivers/ms5611/Makefile b/src/drivers/ms5611/module.mk index d8e67cba2..3c4b0f093 100644 --- a/apps/drivers/ms5611/Makefile +++ b/src/drivers/ms5611/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 @@ -35,8 +35,6 @@ # MS5611 driver # -APPNAME = ms5611 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = ms5611 -include $(APPDIR)/mk/app.mk +SRCS = ms5611.cpp diff --git a/apps/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 59ab5936e..59ab5936e 100644 --- a/apps/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 4ef150da1..4ef150da1 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp index c2bf18115..c2bf18115 100644 --- a/apps/examples/kalman_demo/KalmanNav.hpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp diff --git a/apps/examples/kalman_demo/kalman_demo.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp index 581b68b01..aebe3d1fe 100644 --- a/apps/examples/kalman_demo/kalman_demo.cpp +++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp @@ -55,7 +55,7 @@ static int deamon_task; /**< Handle of deamon task / thread */ /** * Deamon management function. */ -extern "C" __EXPORT int kalman_demo_main(int argc, char *argv[]); +extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]); /** * Mainloop of deamon. @@ -85,7 +85,7 @@ usage(const char *reason) * The actual stack size should be set in the call * to task_create(). */ -int kalman_demo_main(int argc, char *argv[]) +int att_pos_estimator_ekf_main(int argc, char *argv[]) { if (argc < 1) diff --git a/apps/fixedwing_att_control/Makefile b/src/modules/att_pos_estimator_ekf/module.mk index 01465fa9e..21b7c9166 100644 --- a/apps/fixedwing_att_control/Makefile +++ b/src/modules/att_pos_estimator_ekf/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 @@ -32,14 +32,14 @@ ############################################################################ # -# Fixedwing Control application +# Full attitude / position Extended Kalman Filter # -APPNAME = fixedwing_att_control -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 +MODULE_COMMAND = att_pos_estimator_ekf -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk +# XXX this might be intended for the spawned deamon, validate +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" +SRCS = kalman_main.cpp \ + KalmanNav.cpp \ + params.c diff --git a/apps/examples/kalman_demo/params.c b/src/modules/att_pos_estimator_ekf/params.c index 50642f067..50642f067 100644 --- a/apps/examples/kalman_demo/params.c +++ b/src/modules/att_pos_estimator_ekf/params.c diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c index b012448a2..769b8b0a8 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c @@ -35,7 +35,6 @@ * @file fixedwing_att_control_rate.c * Implementation of a fixed wing attitude controller. */ -#include <fixedwing_att_control_att.h> #include <nuttx/config.h> #include <stdio.h> @@ -59,7 +58,7 @@ #include <systemlib/geo/geo.h> #include <systemlib/systemlib.h> - +#include "fixedwing_att_control_att.h" struct fw_att_control_params { diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h index 600e35b89..600e35b89 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.h +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c index aa9db6d52..58477632b 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c @@ -65,8 +65,9 @@ #include <systemlib/geo/geo.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> -#include <fixedwing_att_control_rate.h> -#include <fixedwing_att_control_att.h> + +#include "fixedwing_att_control_rate.h" +#include "fixedwing_att_control_att.h" /* Prototypes */ /** diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c index ba5b593e2..4eccc118c 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -33,11 +33,11 @@ ****************************************************************************/ /** * @file fixedwing_att_control_rate.c + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * * Implementation of a fixed wing attitude controller. * - * @author Thomas Gubler <thomasgubler@student.ethz.ch> */ -#include <fixedwing_att_control_rate.h> #include <nuttx/config.h> #include <stdio.h> @@ -61,6 +61,8 @@ #include <systemlib/geo/geo.h> #include <systemlib/systemlib.h> +#include "fixedwing_att_control_rate.h" + /* * Controller parameters, accessible via MAVLink * diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h index 500e3e197..500e3e197 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h diff --git a/src/modules/fixedwing_att_control/module.mk b/src/modules/fixedwing_att_control/module.mk new file mode 100644 index 000000000..fd1a8724a --- /dev/null +++ b/src/modules/fixedwing_att_control/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# 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 +# 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. +# +############################################################################ + +# +# Fixedwing Attitude Control application +# + +MODULE_COMMAND = fixedwing_att_control + +SRCS = fixedwing_att_control_main.c \ + fixedwing_att_control_att.c \ + fixedwing_att_control_rate.c diff --git a/apps/examples/control_demo/control_demo.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp index e609f2f4b..e21990c92 100644 --- a/apps/examples/control_demo/control_demo.cpp +++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Example User <mail@example.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: James Goppert * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,8 +33,10 @@ ****************************************************************************/ /** - * @file control_demo.cpp - * Demonstration of control library + * @file fixedwing_backside_main.cpp + * @author James Goppert + * + * Fixedwing backside controller using control library */ #include <nuttx/config.h> @@ -55,7 +57,7 @@ static int deamon_task; /**< Handle of deamon task / thread */ /** * Deamon management function. */ -extern "C" __EXPORT int control_demo_main(int argc, char *argv[]); +extern "C" __EXPORT int fixedwing_backside_main(int argc, char *argv[]); /** * Mainloop of deamon. @@ -90,7 +92,7 @@ usage(const char *reason) * The actual stack size should be set in the call * to task_create(). */ -int control_demo_main(int argc, char *argv[]) +int fixedwing_backside_main(int argc, char *argv[]) { if (argc < 1) diff --git a/src/modules/fixedwing_backside/module.mk b/src/modules/fixedwing_backside/module.mk new file mode 100644 index 000000000..a9233288b --- /dev/null +++ b/src/modules/fixedwing_backside/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# 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 +# 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. +# +############################################################################ + +# +# Fixedwing backside controller +# + +MODULE_COMMAND = fixedwing_backside + +SRCS = fixedwing_backside_main.cpp diff --git a/apps/examples/control_demo/params.c b/src/modules/fixedwing_backside/params.c index 428b779b1..428b779b1 100644 --- a/apps/examples/control_demo/params.c +++ b/src/modules/fixedwing_backside/params.c diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c index 71c78f5b8..71c78f5b8 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c diff --git a/src/modules/fixedwing_pos_control/module.mk b/src/modules/fixedwing_pos_control/module.mk new file mode 100644 index 000000000..b976377e9 --- /dev/null +++ b/src/modules/fixedwing_pos_control/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# 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 +# 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. +# +############################################################################ + +# +# Fixedwing PositionControl application +# + +MODULE_COMMAND = fixedwing_pos_control + +SRCS = fixedwing_pos_control_main.c diff --git a/src/modules/mavlink/.context b/src/modules/mavlink/.context deleted file mode 100644 index e69de29bb..000000000 --- a/src/modules/mavlink/.context +++ /dev/null diff --git a/src/modules/multirotor_att_control/module.mk b/src/modules/multirotor_att_control/module.mk new file mode 100755 index 000000000..2fd52c162 --- /dev/null +++ b/src/modules/multirotor_att_control/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# 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 +# 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. +# +############################################################################ + +# +# Makefile to build the multirotor attitude controller +# + +MODULE_COMMAND = multirotor_att_control + +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/src/modules/multirotor_pos_control/module.mk b/src/modules/multirotor_pos_control/module.mk new file mode 100644 index 000000000..d04847745 --- /dev/null +++ b/src/modules/multirotor_pos_control/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# 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 +# 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. +# +############################################################################ + +# +# Build multirotor position control +# + +MODULE_COMMAND = multirotor_pos_control + +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/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 |