Accidentally pushed in commit 298f7bffb9
The order of the motors shouldn't have been changed on version 5 because
it is specific to older versions of the ESC controller firmware
Minor changes to follow coding style and improve readability:
- sort headers
- move struct definition to compilation unit rather than header
- Add braces to if, for, etc
Sort include alphabetically and make them in order:
Main header
system headers
library headers
local headers
While reordering, change a include of endian.h to our sparse-endian.h
which is more reliant to toolchain changes.
Newer esc firmware versions on bebop 1 and all the versions on bebop 2
have a different order for the motors in the i2c frame sent to the
esc contoller. This commit adds support for both versions by reading
the firmware version of the esc, using GET_INFO frame
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
Julien Beraud
William Liu
Andrew Tridgell
Lucas De Marchi
Luiz Ywata
Caio Marcelo de Oliveira Filho
Gustavo Jose de Sousa
Jean-Baptiste Dubois