Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

APM_Control: stop libraries including AP_Logger.h in .h files

Browse Source 
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 14:29:47 +11:00 committed by Peter Barker
parent 0c32eeca2e
commit dd589934cc
7 changed files with 14 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/APM_Control/AP_AutoTune.cpp
View File

@ -163,7 +163,7 @@ const char *AP_AutoTune::axis_string(void) const
/* /*
one update cycle of the autotuner one update cycle of the autotuner
*/ */
void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler, float angle_err_deg) void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
{ {
if (!running) { if (!running) {
return; return;

3
libraries/APM_Control/AP_AutoTune.h
View File

@ -5,6 +5,7 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AC_PID/AC_PID.h> #include <AC_PID/AC_PID.h>
#include <Filter/ModeFilter.h>
class AP_AutoTune class AP_AutoTune
{ {
@ -54,7 +55,7 @@ public:
// update called whenever autotune mode is active. This is // update called whenever autotune mode is active. This is
// called at the main loop rate // called at the main loop rate
void update(AP_Logger::PID_Info &pid_info, float scaler, float angle_err_deg); void update(AP_PIDInfo &pid_info, float scaler, float angle_err_deg);
// are we running? // are we running?
bool running; bool running;

5
libraries/APM_Control/AP_PitchController.h
View File

@ -3,7 +3,6 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include "AP_AutoTune.h" #include "AP_AutoTune.h"
#include <AP_Logger/AP_Logger.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AC_PID/AC_PID.h> #include <AC_PID/AC_PID.h>
@ -34,7 +33,7 @@ public:
void autotune_start(void); void autotune_start(void);
void autotune_restore(void); void autotune_restore(void);
const AP_Logger::PID_Info& get_pid_info(void) const const AP_PIDInfo& get_pid_info(void) const
{ {
return _pid_info; return _pid_info;
} }
@ -59,7 +58,7 @@ private:
AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1}; AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1};
float angle_err_deg; float angle_err_deg;
AP_Logger::PID_Info _pid_info; AP_PIDInfo _pid_info;
float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode); float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode);
float _get_coordination_rate_offset(float &aspeed, bool &inverted) const; float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;

5
libraries/APM_Control/AP_RollController.h
View File

@ -3,7 +3,6 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include "AP_AutoTune.h" #include "AP_AutoTune.h"
#include <AP_Logger/AP_Logger.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AC_PID/AC_PID.h> #include <AC_PID/AC_PID.h>
@ -34,7 +33,7 @@ public:
void autotune_start(void); void autotune_start(void);
void autotune_restore(void); void autotune_restore(void);
const AP_Logger::PID_Info& get_pid_info(void) const const AP_PIDInfo& get_pid_info(void) const
{ {
return _pid_info; return _pid_info;
} }
@ -64,7 +63,7 @@ private:
AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1}; AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1};
float angle_err_deg; float angle_err_deg;
AP_Logger::PID_Info _pid_info; AP_PIDInfo _pid_info;
float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, bool ground_mode); float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, bool ground_mode);
}; };

6
libraries/APM_Control/AP_SteerController.h
View File

@ -2,7 +2,7 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Logger/AP_Logger.h> #include <AC_PID/AP_PIDInfo.h>
class AP_SteerController { class AP_SteerController {
public: public:
@ -44,7 +44,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; } const class AP_PIDInfo& get_pid_info(void) const { return _pid_info; }
void set_reverse(bool reverse) { void set_reverse(bool reverse) {
_reverse = reverse; _reverse = reverse;
@ -65,7 +65,7 @@ private:
AP_Float _deratefactor; AP_Float _deratefactor;
AP_Float _mindegree; AP_Float _mindegree;
AP_Logger::PID_Info _pid_info {}; AP_PIDInfo _pid_info {};
bool _reverse; bool _reverse;
}; };

5
libraries/APM_Control/AP_YawController.h
View File

@ -2,7 +2,6 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Logger/AP_Logger.h>
#include <AC_PID/AC_PID.h> #include <AC_PID/AC_PID.h>
#include "AP_AutoTune.h" #include "AP_AutoTune.h"
@ -36,7 +35,7 @@ public:
_pid_info.I *= 0.995f; _pid_info.I *= 0.995f;
} }
const AP_Logger::PID_Info& get_pid_info(void) const const AP_PIDInfo& get_pid_info(void) const
{ {
return _pid_info; return _pid_info;
} }
@ -69,5 +68,5 @@ private:
AP_AutoTune *autotune; AP_AutoTune *autotune;
bool failed_autotune_alloc; bool failed_autotune_alloc;
AP_Logger::PID_Info _pid_info; AP_PIDInfo _pid_info;
}; };

4
libraries/APM_Control/AR_AttitudeControl.h
View File

@ -82,7 +82,7 @@ public:
AC_PID& get_steering_rate_pid() { return _steer_rate_pid; } AC_PID& get_steering_rate_pid() { return _steer_rate_pid; }
AC_PID& get_pitch_to_throttle_pid() { return _pitch_to_throttle_pid; } AC_PID& get_pitch_to_throttle_pid() { return _pitch_to_throttle_pid; }
AC_PID& get_sailboat_heel_pid() { return _sailboat_heel_pid; } AC_PID& get_sailboat_heel_pid() { return _sailboat_heel_pid; }
const AP_Logger::PID_Info& get_throttle_speed_pid_info() const { return _throttle_speed_pid_info; } const AP_PIDInfo& get_throttle_speed_pid_info() const { return _throttle_speed_pid_info; }
// get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis). returns true on success // get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis). returns true on success
bool get_forward_speed(float &speed) const; bool get_forward_speed(float &speed) const;
@ -143,7 +143,7 @@ private:
uint32_t _stop_last_ms; // system time the vehicle was at a complete stop uint32_t _stop_last_ms; // system time the vehicle was at a complete stop
bool _throttle_limit_low; // throttle output was limited from going too low (used to reduce i-term buildup) bool _throttle_limit_low; // throttle output was limited from going too low (used to reduce i-term buildup)
bool _throttle_limit_high; // throttle output was limited from going too high (used to reduce i-term buildup) bool _throttle_limit_high; // throttle output was limited from going too high (used to reduce i-term buildup)
AP_Logger::PID_Info _throttle_speed_pid_info; // local copy of throttle_speed controller's PID info to allow reporting of unusual FF AP_PIDInfo _throttle_speed_pid_info; // local copy of throttle_speed controller's PID info to allow reporting of unusual FF
// balancebot pitch control // balancebot pitch control
uint32_t _balance_last_ms = 0; uint32_t _balance_last_ms = 0;