diff options
Diffstat (limited to 'src/platforms/px4_defines.h')
| -rw-r--r-- | src/platforms/px4_defines.h | 37 |
1 files changed, 36 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 |