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90 Commits

Author SHA1 Message Date
Lucas De Marchi f637a29ab6 AC_PID: replace header guard with pragma once 2016-03-16 18:40:39 +11:00
dgrat 5148e41c1a AP_Math: Cleaned macro definitions 
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
 2016-02-27 02:51:33 -03:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa d281067bcc waf: make example binaries be placed in 'examples' dir 
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
 2016-01-15 16:46:41 -02:00
Andrew Tridgell 27b43f4036 AC_PID: fixed example build warning 2016-01-04 08:22:17 +11:00
Jonathan Challinger 9e6be648b9 AC_PID: fix example build 2015-12-29 10:46:35 -08:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi 247195512f AC_PID: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:42 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
Robert Lefebvre c66af9b788 AC_HELI_PID: Add Leak-Min param and functionality. 2015-11-12 19:37:20 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Caio Marcelo de Oliveira Filho 9a2e0c2fd9 AC_PID: remove unnecessary includes from example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
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'.
 2015-10-21 09:16:07 +11:00
Grant Morphett 1595c137f8 AC_PID_test: fixed AC_HELI_PID constructor 2015-08-31 13:45:13 +09:00
Gustavo Jose de Sousa 286d084d83 AC_PID: standardize inclusion of libaries headers 
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.
 2015-08-11 16:28:41 +10:00
Andrew Tridgell a62c450f86 AC_PID: convert example from .pde to .cpp 2015-06-01 16:58:10 +10:00
Andrew Tridgell 3ec8857fbc AC_PID: added set_desired_rate() interface 
used to setup _pid_info for logging
 2015-05-27 14:28:48 +10:00
Andrew Tridgell 6000bb0c32 AC_PID: log desired rate for VFF as well as AFF 2015-05-27 14:28:48 +10:00
Robert Lefebvre 366f87c91c AC_HELI_PID: Add Acceleration FF method. 2015-05-27 14:28:47 +10:00
Andrew Tridgell e79a21d8c2 AC_PID: fill in desired rate for heli PID 2015-05-27 14:28:46 +10:00
Robert Lefebvre 967071ca62 AC_PID: Integrate PID Logging functionality. 2015-05-27 14:28:44 +10:00
Robert Lefebvre bcc3fa0526 AC_HELI_PID: Pass default FF param setting in constructor 2015-05-22 09:38:28 +09:00
Randy Mackay 56b92e7d8c AC_PID: fix example sketch 2015-05-13 17:55:39 +09:00
Tom Pittenger 9d74f57ed3 AP_PID: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Andrew Tridgell 33555b7f12 AC_PID: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Tom Pittenger 54f4d4b07c AP_PID: compiler warnings: reordered constructor 2015-05-05 13:26:56 +10:00
Tom Pittenger 01180d52c4 AP_PID: compiler warnings: apply is_zero(float) 2015-05-05 13:26:51 +10:00
Andrew Tridgell 777685ce1f AC_PID: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Randy Mackay 67b0c6f5c4 AC_PID: replace is_equal with is_zero 2015-04-28 16:22:08 +09:00
Randy Mackay 3514177314 AC_PI_2D: minor format fix 2015-04-28 16:21:53 +09:00
dgrat 303cfd683a AC_PID: replace floating point '==' with is_equal 
Also add div-by-zero check to fix calc_filt_alpha

Also get_i and get_shrink_i do not need to set values to zero in Vector2f
constructor because this is already done.
 2015-04-28 16:21:46 +09:00
Tom Pittenger 4b97cc1957 AC_PID: fix compile warnings re float constants 2015-04-24 12:22:43 +09:00
Jonathan Challinger 6ea91d012e AC_PID: calculate filt_alpha every time the filter is run 2015-04-14 16:19:02 +09:00
Randy Mackay a095a8c3a1 AC_PID: more protection against NaN and Inf 2015-04-09 20:19:55 +09:00
Leonard Hall ae77c18a19 AC_PID: Protect against NaN and INF 2015-04-09 18:30:12 +09:00
Randy Mackay f260536373 AC_PID: fix example sketch compile error 2015-04-08 15:05:29 +09:00
Randy Mackay 3f3e622be5 AC_PID: fix example sketch 2015-03-30 16:07:56 -07:00
Randy Mackay 12724e9556 AC_PID: remove include of stdio.h 2015-03-11 20:40:05 +09:00
Randy Mackay cc0d5b9ced AC_PI_2D: replace set_filt_hz method with filt_hz 
Thanks to Jonathan Challinger for spotting this bug
 2015-03-11 17:28:36 +09:00
Randy Mackay c10b0b34ca AC_PID: replace set_filt_hz method with filt_hz 
Thanks to Jonathan Challinger for spotting this bug
Also add sanity check to filt_hz
 2015-03-11 17:28:20 +09:00
Leonard Hall 34a5bc8b33 AC_PI_2D: 2-axis PI controller 2015-03-06 14:01:56 +09:00
Leonard Hall 046949ea8a AC_HELI_PID: add input filter and restructure 
Also removed unused initial_ff from construtor
 2015-03-06 14:01:54 +09:00
Leonard Hall 517448e536 AC_PID: add input filtering and restructure 2015-03-06 14:01:52 +09:00
Andrew Tridgell 83dc9bf5b3 AC_PID: fixed example build 2014-08-13 22:11:16 +10:00
Randy Mackay 0a46afa6c4 AC_PID: init members to reduce compiler warnings 2014-07-16 17:46:14 +09:00
Robert Lefebvre fa9d625e39 AC_HELI_PID: Add feedforward accessor functions. 2014-07-08 20:18:05 +09:00