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AC_AttitudeControl: change namespace of MultiCopter and FixedWing params

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this stops the libraries knowing anything about AP_Vehicle
This commit is contained in:
Peter Barker 2022-09-30 09:10:39 +10:00 committed by Andrew Tridgell
parent 38bc9bfab1
commit 48d25cfc9f
10 changed files with 11 additions and 11 deletions
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1
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -1,5 +1,6 @@
#include "AC_AttitudeControl.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
extern const AP_HAL::HAL& hal;

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -6,11 +6,11 @@
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_AHRS/AP_AHRS_View.h>
#include <AP_Motors/AP_Motors.h>
#include <AC_PID/AC_PID.h>
#include <AC_PID/AC_P.h>
#include <AP_Vehicle/AP_MultiCopter.h>
#define AC_ATTITUDE_CONTROL_ANGLE_P 4.5f // default angle P gain for roll, pitch and yaw
@ -48,7 +48,7 @@
class AC_AttitudeControl {
public:
AC_AttitudeControl( AP_AHRS_View &ahrs,
const AP_Vehicle::MultiCopter &aparm,
const AP_MultiCopter &aparm,
AP_Motors& motors,
float dt) :
_p_angle_roll(AC_ATTITUDE_CONTROL_ANGLE_P),
@ -516,7 +516,7 @@ protected:
// References to external libraries
const AP_AHRS_View& _ahrs;
const AP_Vehicle::MultiCopter &_aparm;
const AP_MultiCopter &_aparm;
AP_Motors& _motors;
static AC_AttitudeControl *_singleton;

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -32,7 +32,7 @@
class AC_AttitudeControl_Heli : public AC_AttitudeControl {
public:
AC_AttitudeControl_Heli( AP_AHRS_View &ahrs,
const AP_Vehicle::MultiCopter &aparm,
const AP_MultiCopter &aparm,
AP_MotorsHeli& motors,
float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt),

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -235,7 +235,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
AP_GROUPEND
};
AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) :
AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt),
_motors_multi(motors),
_pid_rate_roll(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt),

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -41,7 +41,7 @@
class AC_AttitudeControl_Multi : public AC_AttitudeControl {
public:
AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
// empty destructor to suppress compiler warning
virtual ~AC_AttitudeControl_Multi() {}

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h
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@ -5,7 +5,7 @@
class AC_AttitudeControl_Multi_6DoF : public AC_AttitudeControl_Multi {
public:
AC_AttitudeControl_Multi_6DoF(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt):
AC_AttitudeControl_Multi_6DoF(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt):
AC_AttitudeControl_Multi(ahrs,aparm,motors,dt) {
if (_singleton != nullptr) {

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
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@ -259,7 +259,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
AP_GROUPEND
};
AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) :
AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt),
_motors_multi(motors),
_pid_rate_roll(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ, dt),

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
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@ -25,7 +25,7 @@
class AC_AttitudeControl_Sub : public AC_AttitudeControl {
public:
AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
// empty destructor to suppress compiler warning
virtual ~AC_AttitudeControl_Sub() {}

2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -3,7 +3,7 @@
#include <AP_Math/AP_Math.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Motors/AP_Motors.h> // motors library
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
extern const AP_HAL::HAL& hal;

1
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -13,7 +13,6 @@
#include <AP_InertialNav/AP_InertialNav.h> // Inertial Navigation library
#include "AC_AttitudeControl.h" // Attitude control library
// position controller default definitions
#define POSCONTROL_ACCEL_XY 100.0f // default horizontal acceleration in cm/s/s. This is overwritten by waypoint and loiter controllers
#define POSCONTROL_JERK_XY 5.0f // default horizontal jerk m/s/s/s