mirror of https://github.com/ArduPilot/ardupilot
ArduSub: stop libraries including AP_Logger.h in .h files
AP_Logger.h is a nexus of includes; while this is being improved over time, there's no reason for the library headers to include AP_Logger.h as the logger itself is access by singleton and the structures are in LogStructure.h This necessitated moving The PID_Info structure out of AP_Logger's namespace. This cleans up a pretty nasty bit - that structure is definitely not simply used for logging, but also used to pass pid information around to controllers! There are a lot of patches in here because AP_Logger.h, acting as a nexus, was providing transitive header file inclusion in many (some unlikely!) places.
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@ -154,7 +154,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
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const Vector3f &gyro = ahrs.get_gyro();
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if (g.gcs_pid_mask & 1) {
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const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
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const AP_PIDInfo &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
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pid_info.target*0.01f,
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degrees(gyro.x),
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@ -169,7 +169,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
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}
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}
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if (g.gcs_pid_mask & 2) {
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const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info();
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const AP_PIDInfo &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
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pid_info.target*0.01f,
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degrees(gyro.y),
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@ -184,7 +184,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
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}
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}
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if (g.gcs_pid_mask & 4) {
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const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info();
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const AP_PIDInfo &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
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pid_info.target*0.01f,
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degrees(gyro.z),
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@ -199,7 +199,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
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}
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}
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if (g.gcs_pid_mask & 8) {
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const AP_Logger::PID_Info &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info();
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const AP_PIDInfo &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
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pid_info.target*0.01f,
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-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
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