AP_Param: #include <AP_Param.h> fixups for libraries & sketches

* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.

APMrover2/APMrover2.pde

@@ -79,6 +79,7 @@ version 2.1 of the License, or (at your option) any later version.
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_Menu.h>
+#include <AP_Param.h>
 #include <Arduino_Mega_ISR_Registry.h>
 #include <APM_RC.h>         // ArduPilot Mega RC Library
 #include <AP_GPS.h>         // ArduPilot GPS library

ArduCopter/ArduCopter.pde

@@ -65,6 +65,7 @@
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_Menu.h>
+#include <AP_Param.h>
 #include <Arduino_Mega_ISR_Registry.h>
 #include <APM_RC.h>             // ArduPilot Mega RC Library
 #include <AP_GPS.h>             // ArduPilot GPS library

ArduPlane/ArduPlane.pde

@@ -28,6 +28,7 @@
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_Menu.h>
+#include <AP_Param.h>
 #include <Arduino_Mega_ISR_Registry.h>
 #include <APM_RC.h>         // ArduPilot Mega RC Library
 #include <AP_GPS.h>         // ArduPilot GPS library

libraries/AC_PID/AC_PID.h

@@ -7,6 +7,7 @@
 #define AC_PID_h
 
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <math.h>               // for fabs()
 
 /// @class	AC_PID

libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde

@@ -8,6 +8,7 @@
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_Math.h>
+#include <AP_Param.h>
 #include <APM_RC.h> // ArduPilot RC Library
 #include <AC_PID.h> // ArduPilot Mega RC Library
 

libraries/APM_OBC/APM_OBC.h

@@ -12,6 +12,7 @@
 */
 
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <inttypes.h>
 
 

libraries/APM_PI/APM_PI.h

@@ -7,6 +7,7 @@
 #define APM_PI_h
 
 #include <AP_Common.h>
+#include <AP_Param.h>
 //#include <math.h>		// for fabs()
 
 /// @class	APM_PI

libraries/APO/AP_Autopilot.h

@@ -8,7 +8,7 @@
 #ifndef AP_AUTOPILOT_H_
 #define AP_AUTOPILOT_H_
 
-#include "../AP_Common/AP_Loop.h"
+#include "AP_Loop.h"
 
 /**
  * ArduPilotOne namespace to protect variables

libraries/AP_AHRS/AP_AHRS.h

@@ -16,6 +16,7 @@
 #include <AP_GPS.h>
 #include <AP_InertialSensor.h>
 #include <AP_Baro.h>
+#include <AP_Param.h>
 
 #if defined(ARDUINO) && ARDUINO >= 100
  #include "Arduino.h"

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde

@@ -17,6 +17,7 @@
 #include <AP_AnalogSource.h>
 #include <AP_AnalogSource_Arduino.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Compass.h>
 #include <AP_Airspeed.h>
 #include <AP_Baro.h>

libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde

@@ -10,6 +10,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 #include <AP_AnalogSource.h>
 #include <AP_AnalogSource_Arduino.h>

libraries/AP_AnalogSource/examples/AnalogSource_Arduino/AnalogSource_Arduino.pde

@@ -6,6 +6,7 @@
 #include <FastSerial.h>
 #include <AP_Math.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <Arduino_Mega_ISR_Registry.h>
 #include <AP_PeriodicProcess.h>
 #include <AP_AnalogSource.h>

libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde

@@ -13,6 +13,7 @@
 #include <AP_InertialSensor.h>
 #include <AP_Math.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AverageFilter.h>
 #include <AP_Buffer.h>
 

libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde

@@ -2,6 +2,7 @@
 #include <stdint.h>
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <I2C.h>
 #include <SPI.h>

libraries/AP_Common/AP_Common.h

@@ -38,13 +38,6 @@ typedef struct {
 //#include "AP_Vector.h"
 //#include "AP_Loop.h"
 
-// default to AP_Param system, unless USE_AP_VAR is defined
-#ifdef USE_AP_VAR
- #include "AP_Var.h"
-#else
- #include "AP_Param.h"
-#endif
-
 ////////////////////////////////////////////////////////////////////////////////
 /// @name	Warning control
 //@{

libraries/AP_Compass/Compass.h

@@ -3,9 +3,10 @@
 #define Compass_h
 
 #include <inttypes.h>
-#include "../AP_Common/AP_Common.h"
-#include "../AP_Math/AP_Math.h"
-#include "../AP_Declination/AP_Declination.h" // ArduPilot Mega Declination Helper Library
+#include <AP_Common.h>
+#include <AP_Param.h>
+#include <AP_Math.h>
+#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
 
 // compass product id
 #define AP_COMPASS_TYPE_UNKNOWN  0x00

libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Compass.h> // Compass Library
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <I2C.h>

libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde

@@ -3,6 +3,7 @@
 // AVR runtime
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 #include <AP_Declination.h>
 #include <Filter.h>

libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde

@@ -9,6 +9,7 @@
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_GPS.h>
 
 FastSerialPort0(Serial);

libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_GPS.h>
 #include <AP_Math.h>
 

libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde

@@ -8,6 +8,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_GPS.h>
 #include <AP_Math.h>
 

libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde

@@ -6,6 +6,7 @@
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_GPS.h>
 
 FastSerialPort0(Serial);

libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde

@@ -8,6 +8,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_GPS.h>
 #include <AP_Math.h>
 

libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde

@@ -12,6 +12,7 @@
 #include <AP_InertialSensor.h>
 #include <AP_Math.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 
 #define APM_HARDWARE_APM1 1
 #define APM_HARDWARE_APM2 2

libraries/AP_LeadFilter/examples/AP_LeadFilter/AP_LeadFilter.pde

@@ -7,6 +7,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>          // ArduPilot Mega Common Library
+#include <AP_Param.h>
 #include <Arduino_Mega_ISR_Registry.h>
 #include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
 #include <AP_LeadFilter.h>      // GPS Lead filter

libraries/AP_Limits/AP_Limit_Module.h

@@ -10,6 +10,7 @@
 #define AP_LIMIT_MODULE_H_
 
 #include <AP_Common.h>
+#include <AP_Param.h>
 
 // The module IDs are defined as powers of 2, to make a bit-field
 enum moduleid {

libraries/AP_Limits/AP_Limits.h

@@ -13,8 +13,8 @@
 #endif
 
 #include <stdint.h>
+#include <AP_Param.h>
 #include <AP_Limit_Module.h>
-#include <AP_Common.h>
 
 // MAVLink messages, trying to pull into library
 //#include "../GCS_MAVLink/include/mavlink/v1.0/protocol.h"

libraries/AP_Math/AP_Math.h

@@ -6,6 +6,7 @@
 // Assorted useful math operations for ArduPilot(Mega)
 
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <math.h>
 #include <stdint.h>
 #include "rotations.h"

libraries/AP_Math/examples/eulers/eulers.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 
 FastSerialPort(Serial, 0);

libraries/AP_Math/examples/location/location.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 
 #ifdef DESKTOP_BUILD

libraries/AP_Math/examples/polygon/polygon.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 
 FastSerialPort(Serial, 0);

libraries/AP_Math/examples/rotations/rotations.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 
 FastSerialPort(Serial, 0);

libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.pde

@@ -12,6 +12,7 @@
 // Libraries
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <Arduino_Mega_ISR_Registry.h>
 #include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
 #include <RC_Channel.h>     // RC Channel Library
@@ -111,4 +112,4 @@ void print_motor_output()
             Serial.printf("\t%d %d",i,motors.motor_out[i]);
         }
     }
-}
+}

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <SPI.h>                // Arduino SPI library
 #include <SPI3.h>               // SPI3 library

libraries/AP_PID/examples/AP_pid/AP_pid.pde

@@ -0,0 +1,52 @@
+/*
+ *       Example of PID library.
+ *       2010 Code by Jason Short. DIYDrones.com
+ */
+
+#include <Arduino_Mega_ISR_Registry.h>
+#include <FastSerial.h>
+#include <AP_Common.h>
+#include <AP_Param.h>
+#include <APM_RC.h> // ArduPilot RC Library
+#include <AP_PID.h> // ArduPilot Mega RC Library
+
+long radio_in;
+long radio_trim;
+
+Arduino_Mega_ISR_Registry isr_registry;
+AP_PID pid;
+APM_RC_APM1 APM_RC;
+
+void setup()
+{
+    Serial.begin(115200);
+    Serial.println("ArduPilot Mega AP_PID library test");
+
+    isr_registry.init();
+    APM_RC.Init(&isr_registry);          // APM Radio initialization
+
+    delay(1000);
+    //rc.trim();
+    radio_trim = APM_RC.InputCh(0);
+
+    pid.kP(1);
+    pid.kI(0);
+    pid.kD(0.5);
+    pid.imax(50);
+    pid.kP(0);
+    pid.kI(0);
+    pid.kD(0);
+    pid.imax(0);
+    Serial.printf("P %f  I %f  D %f  imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
+}
+
+void loop()
+{
+    delay(20);
+    //rc.read_pwm();
+    long error              = APM_RC.InputCh(0) - radio_trim;
+    long control    = pid.get_pid(error, 20, 1);
+
+    Serial.print("control: ");
+    Serial.println(control,DEC);
+}

libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde

@@ -6,6 +6,7 @@
 // includes
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 #include <Filter.h>
 #include <I2C.h>                // Arduino I2C lib

libraries/Filter/examples/Derivative/Derivative.pde

@@ -4,6 +4,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 #include <Filter.h>
 #include <DerivativeFilter.h>

libraries/Filter/examples/Filter/Filter.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <Filter.h>                     // Filter library
 #include <ModeFilter.h>         // ModeFilter class (inherits from Filter class)

libraries/Filter/examples/LowPassFilter/LowPassFilter.pde

@@ -5,6 +5,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <Filter.h>                     // Filter library
 #include <LowPassFilter.h>      // LowPassFilter class (inherits from Filter class)

libraries/GCS_MAVLink/GCS_MAVLink.h

@@ -6,6 +6,7 @@
 #ifndef GCS_MAVLink_h
 #define GCS_MAVLink_h
 
+#include <AP_Param.h>
 #include <BetterStream.h>
 
 // we have separate helpers disabled to make it possible

libraries/PID/PID.h

@@ -7,6 +7,7 @@
 #define PID_h
 
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <math.h>               // for fabs()
 
 /// @class	PID

libraries/PID/examples/pid/pid.pde

@@ -6,6 +6,7 @@
 #include <FastSerial.h>
 #include <avr/pgmspace.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <AP_Math.h>
 #include <APM_RC.h> // ArduPilot RC Library
 #include <PID.h> // ArduPilot Mega RC Library

libraries/RC_Channel/RC_Channel.h

@@ -7,6 +7,7 @@
 #define RC_Channel_h
 
 #include <AP_Common.h>
+#include <AP_Param.h>
 #include <APM_RC.h>
 
 #define RC_CHANNEL_TYPE_ANGLE       0

libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde

@@ -7,6 +7,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>          // ArduPilot Mega Common Library
+#include <AP_Param.h>
 #include <Arduino_Mega_ISR_Registry.h>
 #include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
 #include <APM_RC.h>             // ArduPilot Mega RC Library
@@ -145,46 +146,65 @@ print_radio_values()
 void
 setup_radio()
 {
-    Serial.println("\n\nRadio Setup:");
-
-    for (byte i = 0; i < 100; i++) {
-        delay(20);
-        read_radio();
-    }
-
-    for (byte i=0; i<8; i++) {
-	    rc[i].radio_min = rc[i].radio_in;
-	    rc[i].radio_max = rc[i].radio_in;
-    }
-
-    rc_1.radio_trim = rc_1.radio_in;
-    rc_2.radio_trim = rc_2.radio_in;
-    rc_4.radio_trim = rc_4.radio_in;
-    // 3 is not trimed
-    rc_5.radio_trim = 1500;
-    rc_6.radio_trim = 1500;
-    rc_7.radio_trim = 1500;
-    rc_8.radio_trim = 1500;
-
-    Serial.println("\nMove all controls to each extreme. Hit Enter to save:");
-    while(1) {
-
-        delay(20);
-        // Filters radio input - adjust filters in the radio.pde file
-        // ----------------------------------------------------------
-        read_radio();
-
-	for (byte i=0; i<8; i++) {
-		rc[i].update_min_max();
+	Serial.println("\n\nRadio Setup:");
+	uint8_t i;
+	
+	for(i = 0; i < 100;i++){
+		delay(20);
+		read_radio();
 	}
+		
+	rc_1.radio_min = rc_1.radio_in;
+	rc_2.radio_min = rc_2.radio_in;
+	rc_3.radio_min = rc_3.radio_in;
+	rc_4.radio_min = rc_4.radio_in;
+	rc_5.radio_min = rc_5.radio_in;
+	rc_6.radio_min = rc_6.radio_in;
+	rc_7.radio_min = rc_7.radio_in;
+	rc_8.radio_min = rc_8.radio_in;
 
-        if(Serial.available() > 0) {
-            //rc_3.radio_max += 250;
-            Serial.flush();
+	rc_1.radio_max = rc_1.radio_in;
+	rc_2.radio_max = rc_2.radio_in;
+	rc_3.radio_max = rc_3.radio_in;
+	rc_4.radio_max = rc_4.radio_in;
+	rc_5.radio_max = rc_5.radio_in;
+	rc_6.radio_max = rc_6.radio_in;
+	rc_7.radio_max = rc_7.radio_in;
+	rc_8.radio_max = rc_8.radio_in;
 
-            Serial.println("Radio calibrated, Showing control values:");
-            break;
-        }
-    }
-    return;
+	rc_1.radio_trim = rc_1.radio_in;
+	rc_2.radio_trim = rc_2.radio_in;
+	rc_4.radio_trim = rc_4.radio_in;
+	// 3 is not trimed
+	rc_5.radio_trim = 1500;
+	rc_6.radio_trim = 1500;
+	rc_7.radio_trim = 1500;
+	rc_8.radio_trim = 1500;
+			
+	Serial.println("\nMove all controls to each extreme. Hit Enter to save:");
+	while(1){
+		
+		delay(20);
+		// Filters radio input - adjust filters in the radio.pde file
+		// ----------------------------------------------------------
+		read_radio();
+
+		rc_1.update_min_max();
+		rc_2.update_min_max();
+		rc_3.update_min_max();
+		rc_4.update_min_max();
+		rc_5.update_min_max();
+		rc_6.update_min_max();
+		rc_7.update_min_max();
+		rc_8.update_min_max();
+		
+		if(Serial.available() > 0){
+			//rc_3.radio_max += 250;
+			Serial.flush();
+			
+			Serial.println("Radio calibrated, Showing control values:");
+			break;
+		}
+	}
+	return;
 }