px4params don't search recursively for params

- move controllib_test under controllib

Tools/px4params/srcscanner.py

@@ -14,20 +14,13 @@ class SourceScanner(object):
         Scans provided path and passes all found contents to the parser using
         parser.Parse method.
         """
-        extensions1 = tuple([".h"])
+        extensions1 = tuple([".c"])
-        extensions2 = tuple([".cpp", ".c"])
         for srcdir in srcdirs:
-            for dirname, dirnames, filenames in os.walk(srcdir):
+            for filename in os.listdir(srcdir):
-                for filename in filenames:
+                if filename.endswith(extensions1):
-                    if filename.endswith(extensions1):
+                    path = os.path.join(srcdir, filename)
-                        path = os.path.join(dirname, filename)
+                    if not self.ScanFile(path, parser):
-                        if not self.ScanFile(path, parser):
+                        return False
-                            return False
-                for filename in filenames:
-                    if filename.endswith(extensions2):
-                        path = os.path.join(dirname, filename)
-                        if not self.ScanFile(path, parser):
-                            return False
         return True
 
     def ScanFile(self, path, parser):

cmake/configs/nuttx_aerocore2_default.cmake

@@ -59,7 +59,7 @@ set(config_module_list
 	#drivers/test_ppm
 	#lib/rc/rc_tests
 	#modules/commander/commander_tests
-	#modules/controllib_test
+	#lib/controllib/controllib_test
 	#modules/mavlink/mavlink_tests
 	#modules/unit_test
 	#modules/uORB/uORB_tests

cmake/configs/nuttx_auav-x21_default.cmake

@@ -79,7 +79,7 @@ set(config_module_list
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
-	modules/controllib_test
+	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
 	modules/unit_test

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -81,7 +81,7 @@ set(config_module_list
 	drivers/test_ppm
 	modules/commander/commander_tests
 	modules/mc_pos_control/mc_pos_control_tests
-	modules/controllib_test
+	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
 	modules/uORB/uORB_tests

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -81,7 +81,7 @@ set(config_module_list
 	#drivers/test_ppm
 	#lib/rc/rc_tests
 	#modules/commander/commander_tests
-	#modules/controllib_test
+	#lib/controllib/controllib_test
 	#modules/mavlink/mavlink_tests
 	#modules/unit_test
 	#modules/uORB/uORB_tests

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -80,7 +80,7 @@ set(config_module_list
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
 	modules/mc_pos_control/mc_pos_control_tests
-	modules/controllib_test
+	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
 	modules/uORB/uORB_tests

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -85,7 +85,7 @@ set(config_module_list
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
-	modules/controllib_test
+	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
 	modules/unit_test

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -85,7 +85,7 @@ set(config_module_list
 	drivers/test_ppm
 	modules/commander/commander_tests
 	modules/mc_pos_control/mc_pos_control_tests
-	modules/controllib_test
+	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
 	modules/uORB/uORB_tests

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -86,7 +86,7 @@ set(config_module_list
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
-	modules/controllib_test
+	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
 	modules/unit_test

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -84,7 +84,7 @@ set(config_module_list
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
-	modules/controllib_test
+	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
 	modules/unit_test

cmake/configs/posix_sitl_default.cmake

@@ -48,7 +48,7 @@ set(config_module_list
 	#drivers/test_ppm
 	lib/rc/rc_tests
 	modules/commander/commander_tests
-	modules/controllib_test
+	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
 	modules/unit_test

src/lib/controllib/controllib_test/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE modules__controllib_test
+	MODULE lib__controllib__controllib_test
 	MAIN controllib_test
 	COMPILE_FLAGS
 	SRCS

src/modules/position_estimator_inav/CMakeLists.txt

@@ -39,7 +39,6 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		position_estimator_inav_main.cpp
-		position_estimator_inav_params.cpp
 		inertial_filter.cpp
 	DEPENDS
 		platforms__common

src/modules/position_estimator_inav/params.c

@@ -343,72 +343,3 @@ PARAM_DEFINE_FLOAT(INAV_LIDAR_OFF, 0.0f);
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
-
-int inav_parameters_init(struct position_estimator_inav_param_handles *h)
-{
-	h->w_z_baro = param_find("INAV_W_Z_BARO");
-	h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
-	h->w_z_gps_v = param_find("INAV_W_Z_GPS_V");
-	h->w_z_vision_p = param_find("INAV_W_Z_VIS_P");
-	h->w_z_lidar = param_find("INAV_W_Z_LIDAR");
-	h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
-	h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
-	h->w_xy_vision_p = param_find("INAV_W_XY_VIS_P");
-	h->w_xy_vision_v = param_find("INAV_W_XY_VIS_V");
-	h->w_mocap_p = param_find("INAV_W_MOC_P");
-	h->w_xy_flow = param_find("INAV_W_XY_FLOW");
-	h->w_xy_res_v = param_find("INAV_W_XY_RES_V");
-	h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
-	h->w_acc_bias = param_find("INAV_W_ACC_BIAS");
-	h->flow_k = param_find("INAV_FLOW_K");
-	h->flow_q_min = param_find("INAV_FLOW_Q_MIN");
-	h->lidar_err = param_find("INAV_LIDAR_ERR");
-	h->land_t = param_find("INAV_LAND_T");
-	h->land_disp = param_find("INAV_LAND_DISP");
-	h->land_thr = param_find("INAV_LAND_THR");
-	h->no_vision = param_find("CBRK_NO_VISION");
-	h->delay_gps = param_find("INAV_DELAY_GPS");
-	h->flow_module_offset_x = param_find("INAV_FLOW_DIST_X");
-	h->flow_module_offset_y = param_find("INAV_FLOW_DIST_Y");
-	h->disable_mocap = param_find("INAV_DISAB_MOCAP");
-	h->enable_lidar_alt_est = param_find("INAV_LIDAR_EST");
-	h->lidar_calibration_offset = param_find("INAV_LIDAR_OFF");
-	h->att_ext_hdg_m = param_find("ATT_EXT_HDG_M");
-
-	return 0;
-}
-
-int inav_parameters_update(const struct position_estimator_inav_param_handles *h,
-			   struct position_estimator_inav_params *p)
-{
-	param_get(h->w_z_baro, &(p->w_z_baro));
-	param_get(h->w_z_gps_p, &(p->w_z_gps_p));
-	param_get(h->w_z_gps_v, &(p->w_z_gps_v));
-	param_get(h->w_z_vision_p, &(p->w_z_vision_p));
-	param_get(h->w_z_lidar, &(p->w_z_lidar));
-	param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
-	param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
-	param_get(h->w_xy_vision_p, &(p->w_xy_vision_p));
-	param_get(h->w_xy_vision_v, &(p->w_xy_vision_v));
-	param_get(h->w_mocap_p, &(p->w_mocap_p));
-	param_get(h->w_xy_flow, &(p->w_xy_flow));
-	param_get(h->w_xy_res_v, &(p->w_xy_res_v));
-	param_get(h->w_gps_flow, &(p->w_gps_flow));
-	param_get(h->w_acc_bias, &(p->w_acc_bias));
-	param_get(h->flow_k, &(p->flow_k));
-	param_get(h->flow_q_min, &(p->flow_q_min));
-	param_get(h->lidar_err, &(p->lidar_err));
-	param_get(h->land_t, &(p->land_t));
-	param_get(h->land_disp, &(p->land_disp));
-	param_get(h->land_thr, &(p->land_thr));
-	param_get(h->no_vision, &(p->no_vision));
-	param_get(h->delay_gps, &(p->delay_gps));
-	param_get(h->flow_module_offset_x, &(p->flow_module_offset_x));
-	param_get(h->flow_module_offset_y, &(p->flow_module_offset_y));
-	param_get(h->disable_mocap, &(p->disable_mocap));
-	param_get(h->enable_lidar_alt_est, &(p->enable_lidar_alt_est));
-	param_get(h->lidar_calibration_offset, &(p->lidar_calibration_offset));
-	param_get(h->att_ext_hdg_m, &(p->att_ext_hdg_m));
-
-	return 0;
-}

src/modules/position_estimator_inav/position_estimator_inav_main.cpp

@@ -1405,3 +1405,73 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	thread_running = false;
 	return 0;
 }
+
+
+int inav_parameters_init(struct position_estimator_inav_param_handles *h)
+{
+	h->w_z_baro = param_find("INAV_W_Z_BARO");
+	h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
+	h->w_z_gps_v = param_find("INAV_W_Z_GPS_V");
+	h->w_z_vision_p = param_find("INAV_W_Z_VIS_P");
+	h->w_z_lidar = param_find("INAV_W_Z_LIDAR");
+	h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
+	h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
+	h->w_xy_vision_p = param_find("INAV_W_XY_VIS_P");
+	h->w_xy_vision_v = param_find("INAV_W_XY_VIS_V");
+	h->w_mocap_p = param_find("INAV_W_MOC_P");
+	h->w_xy_flow = param_find("INAV_W_XY_FLOW");
+	h->w_xy_res_v = param_find("INAV_W_XY_RES_V");
+	h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
+	h->w_acc_bias = param_find("INAV_W_ACC_BIAS");
+	h->flow_k = param_find("INAV_FLOW_K");
+	h->flow_q_min = param_find("INAV_FLOW_Q_MIN");
+	h->lidar_err = param_find("INAV_LIDAR_ERR");
+	h->land_t = param_find("INAV_LAND_T");
+	h->land_disp = param_find("INAV_LAND_DISP");
+	h->land_thr = param_find("INAV_LAND_THR");
+	h->no_vision = param_find("CBRK_NO_VISION");
+	h->delay_gps = param_find("INAV_DELAY_GPS");
+	h->flow_module_offset_x = param_find("INAV_FLOW_DIST_X");
+	h->flow_module_offset_y = param_find("INAV_FLOW_DIST_Y");
+	h->disable_mocap = param_find("INAV_DISAB_MOCAP");
+	h->enable_lidar_alt_est = param_find("INAV_LIDAR_EST");
+	h->lidar_calibration_offset = param_find("INAV_LIDAR_OFF");
+	h->att_ext_hdg_m = param_find("ATT_EXT_HDG_M");
+
+	return 0;
+}
+
+int inav_parameters_update(const struct position_estimator_inav_param_handles *h,
+			   struct position_estimator_inav_params *p)
+{
+	param_get(h->w_z_baro, &(p->w_z_baro));
+	param_get(h->w_z_gps_p, &(p->w_z_gps_p));
+	param_get(h->w_z_gps_v, &(p->w_z_gps_v));
+	param_get(h->w_z_vision_p, &(p->w_z_vision_p));
+	param_get(h->w_z_lidar, &(p->w_z_lidar));
+	param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
+	param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
+	param_get(h->w_xy_vision_p, &(p->w_xy_vision_p));
+	param_get(h->w_xy_vision_v, &(p->w_xy_vision_v));
+	param_get(h->w_mocap_p, &(p->w_mocap_p));
+	param_get(h->w_xy_flow, &(p->w_xy_flow));
+	param_get(h->w_xy_res_v, &(p->w_xy_res_v));
+	param_get(h->w_gps_flow, &(p->w_gps_flow));
+	param_get(h->w_acc_bias, &(p->w_acc_bias));
+	param_get(h->flow_k, &(p->flow_k));
+	param_get(h->flow_q_min, &(p->flow_q_min));
+	param_get(h->lidar_err, &(p->lidar_err));
+	param_get(h->land_t, &(p->land_t));
+	param_get(h->land_disp, &(p->land_disp));
+	param_get(h->land_thr, &(p->land_thr));
+	param_get(h->no_vision, &(p->no_vision));
+	param_get(h->delay_gps, &(p->delay_gps));
+	param_get(h->flow_module_offset_x, &(p->flow_module_offset_x));
+	param_get(h->flow_module_offset_y, &(p->flow_module_offset_y));
+	param_get(h->disable_mocap, &(p->disable_mocap));
+	param_get(h->enable_lidar_alt_est, &(p->enable_lidar_alt_est));
+	param_get(h->lidar_calibration_offset, &(p->lidar_calibration_offset));
+	param_get(h->att_ext_hdg_m, &(p->att_ext_hdg_m));
+
+	return 0;
+}