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.
includes the following changes
move WINCH_ENABLED to library
add singleton
add pre_arm_check
backend gets init_input_and_output and read_pilot_desired_rate
remove use of wheel encoder
rename servo-with-encoder to just servo
add write_log
rename control_mode
add rc input processing
add acceleration limiting
fixes after peer review:
renamed disable to relaxed
make parameters private
default type to 1
enabled method checks backend created
servo range initialised in init method
contrain rate-desired during position control
use set-output-limit instead of set-safety-limit
release_length accepts rate
Peter Barker
Randy Mackay
Leonard Hall