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AC_AttitudeControl: 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.
This commit is contained in:
Peter Barker 2022-03-04 14:29:45 +11:00 committed by Peter Barker
parent 2b2cac3f19
commit c1e776fc46
1 changed files with 4 additions and 3 deletions
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7
libraries/AC_AttitudeControl/ControlMonitor.cpp
View File

@ -1,6 +1,7 @@
#include "AC_AttitudeControl.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Logger/AP_Logger.h>
/*
code to monitor and report on the rate controllers, allowing for
@ -24,15 +25,15 @@ void AC_AttitudeControl::control_monitor_filter_pid(float value, float &rms)
*/
void AC_AttitudeControl::control_monitor_update(void)
{
const AP_Logger::PID_Info &iroll = get_rate_roll_pid().get_pid_info();
const AP_PIDInfo &iroll = get_rate_roll_pid().get_pid_info();
control_monitor_filter_pid(iroll.P + iroll.FF, _control_monitor.rms_roll_P);
control_monitor_filter_pid(iroll.D, _control_monitor.rms_roll_D);
const AP_Logger::PID_Info &ipitch = get_rate_pitch_pid().get_pid_info();
const AP_PIDInfo &ipitch = get_rate_pitch_pid().get_pid_info();
control_monitor_filter_pid(ipitch.P + ipitch.FF, _control_monitor.rms_pitch_P);
control_monitor_filter_pid(ipitch.D, _control_monitor.rms_pitch_D);
const AP_Logger::PID_Info &iyaw = get_rate_yaw_pid().get_pid_info();
const AP_PIDInfo &iyaw = get_rate_yaw_pid().get_pid_info();
control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF, _control_monitor.rms_yaw);
}