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Merge pull request #453 from PX4/gcc_47 

GCC 4.7.4 compatibility
This commit is contained in:
Lorenz Meier 2013-10-13 03:12:17 -07:00
parent db4ff7f080 42c412f6dd
commit 062ba0acab
5 changed files with 63 additions and 39 deletions
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5
makefiles/config_px4fmu-v1_default.mk
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@ -134,7 +134,10 @@ MODULES += lib/geo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
MODULES += examples/fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test
#MODULES += examples/hwtest
#
# Transitional support - add commands from the NuttX export archive.

6
makefiles/config_px4fmu-v2_default.mk
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@ -128,8 +128,12 @@ MODULES += lib/geo
# https://pixhawk.ethz.ch/px4/dev/debug_values
#MODULES += examples/px4_mavlink_debug
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test
MODULES += examples/hwtest
#MODULES += examples/hwtest
#
# Transitional support - add commands from the NuttX export archive.

26
src/modules/att_pos_estimator_ekf/KalmanNav.hpp
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@ -166,19 +166,19 @@ protected:
double lat, lon; /**< lat, lon radians */
float alt; /**< altitude, meters */
// parameters
control::BlockParam<float> _vGyro; /**< gyro process noise */
control::BlockParam<float> _vAccel; /**< accelerometer process noise */
control::BlockParam<float> _rMag; /**< magnetometer measurement noise */
control::BlockParam<float> _rGpsVel; /**< gps velocity measurement noise */
control::BlockParam<float> _rGpsPos; /**< gps position measurement noise */
control::BlockParam<float> _rGpsAlt; /**< gps altitude measurement noise */
control::BlockParam<float> _rPressAlt; /**< press altitude measurement noise */
control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */
control::BlockParam<float> _magDip; /**< magnetic inclination with level */
control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */
control::BlockParam<float> _g; /**< gravitational constant */
control::BlockParam<float> _faultPos; /**< fault detection threshold for position */
control::BlockParam<float> _faultAtt; /**< fault detection threshold for attitude */
control::BlockParamFloat _vGyro; /**< gyro process noise */
control::BlockParamFloat _vAccel; /**< accelerometer process noise */
control::BlockParamFloat _rMag; /**< magnetometer measurement noise */
control::BlockParamFloat _rGpsVel; /**< gps velocity measurement noise */
control::BlockParamFloat _rGpsPos; /**< gps position measurement noise */
control::BlockParamFloat _rGpsAlt; /**< gps altitude measurement noise */
control::BlockParamFloat _rPressAlt; /**< press altitude measurement noise */
control::BlockParamFloat _rAccel; /**< accelerometer measurement noise */
control::BlockParamFloat _magDip; /**< magnetic inclination with level */
control::BlockParamFloat _magDec; /**< magnetic declination, clockwise rotation */
control::BlockParamFloat _g; /**< gravitational constant */
control::BlockParamFloat _faultPos; /**< fault detection threshold for position */
control::BlockParamFloat _faultAtt; /**< fault detection threshold for attitude */
// status
bool _attitudeInitialized;
bool _positionInitialized;

29
src/modules/controllib/block/BlockParam.hpp
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@ -69,22 +69,39 @@ protected:
/**
* Parameters that are tied to blocks for updating and nameing.
*/
template<class T>
class __EXPORT BlockParam : public BlockParamBase
class __EXPORT BlockParamFloat : public BlockParamBase
{
public:
BlockParam(Block *block, const char *name, bool parent_prefix=true) :
BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
T get() { return _val; }
void set(T val) { _val = val; }
float get() { return _val; }
void set(float val) { _val = val; }
void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
protected:
T _val;
float _val;
};
class __EXPORT BlockParamInt : public BlockParamBase
{
public:
BlockParamInt(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
int get() { return _val; }
void set(int val) { _val = val; }
void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
protected:
int _val;
};
} // namespace control

36
src/modules/controllib/blocks.hpp
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@ -74,8 +74,8 @@ public:
float getMax() { return _max.get(); }
protected:
// attributes
BlockParam<float> _min;
BlockParam<float> _max;
control::BlockParamFloat _min;
control::BlockParamFloat _max;
};
int __EXPORT blockLimitTest();
@ -99,7 +99,7 @@ public:
float getMax() { return _max.get(); }
protected:
// attributes
BlockParam<float> _max;
control::BlockParamFloat _max;
};
int __EXPORT blockLimitSymTest();
@ -126,7 +126,7 @@ public:
protected:
// attributes
float _state;
BlockParam<float> _fCut;
control::BlockParamFloat _fCut;
};
int __EXPORT blockLowPassTest();
@ -157,7 +157,7 @@ protected:
// attributes
float _u; /**< previous input */
float _y; /**< previous output */
BlockParam<float> _fCut; /**< cut-off frequency, Hz */
control::BlockParamFloat _fCut; /**< cut-off frequency, Hz */
};
int __EXPORT blockHighPassTest();
@ -273,7 +273,7 @@ public:
// accessors
float getKP() { return _kP.get(); }
protected:
BlockParam<float> _kP;
control::BlockParamFloat _kP;
};
int __EXPORT blockPTest();
@ -303,8 +303,8 @@ public:
BlockIntegral &getIntegral() { return _integral; }
private:
BlockIntegral _integral;
BlockParam<float> _kP;
BlockParam<float> _kI;
control::BlockParamFloat _kP;
control::BlockParamFloat _kI;
};
int __EXPORT blockPITest();
@ -334,8 +334,8 @@ public:
BlockDerivative &getDerivative() { return _derivative; }
private:
BlockDerivative _derivative;
BlockParam<float> _kP;
BlockParam<float> _kD;
control::BlockParamFloat _kP;
control::BlockParamFloat _kD;
};
int __EXPORT blockPDTest();
@ -372,9 +372,9 @@ private:
// attributes
BlockIntegral _integral;
BlockDerivative _derivative;
BlockParam<float> _kP;
BlockParam<float> _kI;
BlockParam<float> _kD;
control::BlockParamFloat _kP;
control::BlockParamFloat _kI;
control::BlockParamFloat _kD;
};
int __EXPORT blockPIDTest();
@ -404,7 +404,7 @@ public:
float get() { return _val; }
private:
// attributes
BlockParam<float> _trim;
control::BlockParamFloat _trim;
BlockLimit _limit;
float _val;
};
@ -439,8 +439,8 @@ public:
float getMax() { return _max.get(); }
private:
// attributes
BlockParam<float> _min;
BlockParam<float> _max;
control::BlockParamFloat _min;
control::BlockParamFloat _max;
};
int __EXPORT blockRandUniformTest();
@ -486,8 +486,8 @@ public:
float getStdDev() { return _stdDev.get(); }
private:
// attributes
BlockParam<float> _mean;
BlockParam<float> _stdDev;
control::BlockParamFloat _mean;
control::BlockParamFloat _stdDev;
};
int __EXPORT blockRandGaussTest();