delete obsolete segway example

2026-05-27 18:27:05 +08:00 · 2019-09-28 14:35:17 -04:00
parent fd67bd0680
commit 0486d69240
45 changed files with 0 additions and 564 deletions
@@ -79,5 +79,4 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
@@ -107,7 +107,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -119,5 +119,4 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 	)
@@ -120,5 +120,4 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
@@ -112,7 +112,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -112,7 +112,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -76,5 +76,4 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
@@ -74,5 +74,4 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
@@ -84,5 +84,4 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
@@ -82,5 +82,4 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
@@ -90,7 +90,6 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 		#uuv_example_app
 	)
@@ -94,7 +94,6 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 		#uuv_example_app
 	)
@@ -116,7 +116,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -111,7 +111,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -102,7 +102,6 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 		#uuv_example_app
 	)
@@ -119,6 +119,5 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 		#uuv_example_app
 	)
@@ -113,5 +113,4 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 	)
@@ -113,5 +113,4 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 	)
@@ -120,7 +120,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -120,7 +120,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -119,7 +119,6 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 		#uuv_example_app
 	)
@@ -106,7 +106,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -109,7 +109,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -106,7 +106,6 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 		#uuv_example_app
 	)
@@ -118,7 +118,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -118,7 +118,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -120,7 +120,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -120,7 +120,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -120,7 +120,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -118,6 +118,5 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -119,6 +119,5 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 		#uuv_example_app
 	)
@@ -120,6 +120,5 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 		uuv_example_app
 	)
@@ -76,5 +76,4 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
@@ -75,5 +75,4 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
@@ -79,7 +79,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
 set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
@@ -80,7 +80,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
 set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
@@ -79,7 +79,6 @@ px4_add_board(
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		segway
 	)
 set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
@@ -113,7 +113,6 @@ px4_add_board(
 		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#segway
 		#uuv_example_app
 	)
@@ -1,66 +0,0 @@
 #include "BlockSegwayController.hpp"
 using matrix::Eulerf;
 using matrix::Quatf;
 void BlockSegwayController::update()
 {
 	// wait for a sensor update, check for exit condition every 100 ms
 	if (px4_poll(&_attPoll, 1, 100) < 0) { return; } // poll error
 	uint64_t newTimeStamp = hrt_absolute_time();
 	float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
 	_timeStamp = newTimeStamp;
 	// check for sane values of dt
 	// to prevent large control responses
 	if (dt > 1.0f || dt < 0) { return; }
 	// set dt for all child blocks
 	setDt(dt);
 	// check for new updates
 	if (_param_update.updated()) { updateParams(); }
 	// get new information from subscriptions
 	updateSubscriptions();
 	actuator_controls_s &actuators = _actuators.get();
 	// default all output to zero unless handled by mode
 	for (unsigned i = 2; i < actuator_controls_s::NUM_ACTUATOR_CONTROLS; i++) {
 		actuators.control[i] = 0.0f;
 	}
 	const uint8_t &nav_state = _status.get().nav_state;
 	// only update guidance in auto mode
 	if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
 		// update guidance
 	}
 	Eulerf euler = Eulerf(Quatf(_att.get().q));
 	// compute speed command
 	float spdCmd = -th2v.update(euler.theta()) - q2v.update(_angular_velocity.get().xyz[1]);
 	// handle autopilot modes
 	if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
 	    nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL ||
 	    nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL) {
 		actuators.control[0] = spdCmd;
 		actuators.control[1] = spdCmd;
 	} else if (nav_state == vehicle_status_s::NAVIGATION_STATE_STAB) {
 		actuators.control[0] = spdCmd;
 		actuators.control[1] = spdCmd;
 	} else if (nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL) {
 		actuators.control[CH_LEFT] = _manual.get().z;
 		actuators.control[CH_RIGHT] = -_manual.get().x;
 	}
 	// publish
 	_actuators.update();
 }
@@ -1,34 +0,0 @@
 #pragma once
 #include <px4_posix.h>
 #include <controllib/blocks.hpp>
 #include "blocks.hpp"
 using control::BlockPI;
 using control::BlockP;
 class BlockSegwayController : public control::BlockUorbEnabledAutopilot
 {
 public:
 	BlockSegwayController() :
 		BlockUorbEnabledAutopilot(nullptr, "SEG"),
 		th2v(this, "TH2V"),
 		q2v(this, "Q2V"),
 		_attPoll(),
 		_timeStamp(0)
 	{
 		_attPoll.fd = _att.getHandle();
 		_attPoll.events = POLLIN;
 	}
 	void update();
 private:
 	enum {CH_LEFT, CH_RIGHT};
 	BlockPI th2v;
 	BlockP q2v;
 	px4_pollfd_struct_t _attPoll;
 	uint64_t _timeStamp;
 };
@@ -1,42 +0,0 @@
 ############################################################################
 #
 #   Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
 # are met:
 #
 # 1. Redistributions of source code must retain the above copyright
 #    notice, this list of conditions and the following disclaimer.
 # 2. Redistributions in binary form must reproduce the above copyright
 #    notice, this list of conditions and the following disclaimer in
 #    the documentation and/or other materials provided with the
 #    distribution.
 # 3. Neither the name PX4 nor the names of its contributors may be
 #    used to endorse or promote products derived from this software
 #    without specific prior written permission.
 #
 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
 px4_add_module(
 	MODULE examples__segway
 	MAIN segway
 	SRCS
 		blocks.cpp
 		segway_main.cpp
 		BlockSegwayController.cpp
 	DEPENDS
 	)
@@ -1,104 +0,0 @@
 /****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 /**
 * @file uorb_blocks.cpp
 *
 * uorb block library code
 */
 #include "blocks.hpp"
 #include <lib/ecl/geo/geo.h>
 #include <matrix/math.hpp>
 using matrix::wrap_2pi;
 namespace control
 {
 BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
 	SuperBlock(parent, name),
 	_xtYawLimit(this, "XT2YAW"),
 	_xt2Yaw(this, "XT2YAW"),
 	_psiCmd(0)
 {
 }
 void BlockWaypointGuidance::update(
 	const vehicle_global_position_s &pos,
 	const vehicle_attitude_s &att,
 	const position_setpoint_s &missionCmd,
 	const position_setpoint_s &lastMissionCmd)
 {
 	// heading to waypoint
 	float psiTrack = get_bearing_to_next_waypoint(
 				 (double)pos.lat / (double)1e7,
 				 (double)pos.lon / (double)1e7,
 				 missionCmd.lat,
 				 missionCmd.lon);
 	// cross track
 	struct crosstrack_error_s xtrackError;
 	get_distance_to_line(&xtrackError,
 			     (double)pos.lat / (double)1e7,
 			     (double)pos.lon / (double)1e7,
 			     lastMissionCmd.lat,
 			     lastMissionCmd.lon,
 			     missionCmd.lat,
 			     missionCmd.lon);
 	_psiCmd = wrap_2pi(psiTrack -
 			   _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
 }
 BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
 	SuperBlock(parent, name),
 	// subscriptions
 	_manual(ORB_ID(manual_control_setpoint), 20, 0, &getSubscriptions()),
 	_param_update(ORB_ID(parameter_update), 1000, 0, &getSubscriptions()), // limit to 1 Hz
 	_missionCmd(ORB_ID(position_setpoint_triplet), 20, 0, &getSubscriptions()),
 	_att(ORB_ID(vehicle_attitude), 20, 0, &getSubscriptions()),
 	_angular_velocity(ORB_ID(vehicle_angular_velocity), 20, 0, &getSubscriptions()),
 	_attCmd(ORB_ID(vehicle_attitude_setpoint), 20, 0, &getSubscriptions()),
 	_pos(ORB_ID(vehicle_global_position), 20, 0, &getSubscriptions()),
 	_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, 0, &getSubscriptions()),
 	_status(ORB_ID(vehicle_status), 20, 0, &getSubscriptions()),
 	// publications
 	_actuators(ORB_ID(actuator_controls_0))
 {
 }
 }
@@ -1,115 +0,0 @@
 /****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 /**
 * @file uorb_blocks.h
 *
 * uorb block library code
 */
 #pragma once
 #include <math.h>
 #include <poll.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <controllib/blocks.hpp>
 #include <drivers/drv_hrt.h>
 #include <uORB/SubscriptionPollable.hpp>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_controls.h>
 namespace control
 {
 /**
 * Waypoint Guidance block
 */
 class __EXPORT BlockWaypointGuidance : public SuperBlock
 {
 private:
 	BlockLimitSym _xtYawLimit;
 	BlockP _xt2Yaw;
 	float _psiCmd;
 public:
 	BlockWaypointGuidance(SuperBlock *parent, const char *name);
 	virtual ~BlockWaypointGuidance() = default;
 	void update(const vehicle_global_position_s &pos,
 		    const vehicle_attitude_s &att,
 		    const position_setpoint_s &missionCmd,
 		    const position_setpoint_s &lastMissionCmd);
 	float getPsiCmd() { return _psiCmd; }
 };
 /**
 * UorbEnabledAutopilot
 */
 class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
 {
 protected:
 	// subscriptions
 	uORB::SubscriptionPollable<manual_control_setpoint_s> _manual;
 	uORB::SubscriptionPollable<parameter_update_s> _param_update;
 	uORB::SubscriptionPollable<position_setpoint_triplet_s> _missionCmd;
 	uORB::SubscriptionPollable<vehicle_attitude_s> _att;
 	uORB::SubscriptionPollable<vehicle_angular_velocity_s> _angular_velocity;
 	uORB::SubscriptionPollable<vehicle_attitude_setpoint_s> _attCmd;
 	uORB::SubscriptionPollable<vehicle_global_position_s> _pos;
 	uORB::SubscriptionPollable<vehicle_rates_setpoint_s> _ratesCmd;
 	uORB::SubscriptionPollable<vehicle_status_s> _status;
 	// publications
 	uORB::PublicationData<actuator_controls_s> _actuators{ORB_ID(actuator_controls_0)};
 public:
 	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
 	virtual ~BlockUorbEnabledAutopilot() = default;
 };
 } // namespace control
@@ -1,7 +0,0 @@
 #include <parameters/param.h>
 // 16 is max name length
 PARAM_DEFINE_FLOAT(SEG_TH2V_P, 10.0f); // pitch to voltage
 PARAM_DEFINE_FLOAT(SEG_TH2V_I, 0.0f); // pitch integral to voltage
 PARAM_DEFINE_FLOAT(SEG_TH2V_I_MAX, 0.0f); // integral limiter
 PARAM_DEFINE_FLOAT(SEG_Q2V, 1.0f); // pitch rate to voltage
@@ -1,158 +0,0 @@
 /****************************************************************************
 *
 *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 *   Author: James Goppert
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 /**
 * @file segway_main.cpp
 * @author James Goppert
 *
 * Segway controller using control library
 */
 #include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <parameters/param.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
 #include "BlockSegwayController.hpp"
 static bool thread_should_exit = false;     /**< Deamon exit flag */
 static bool thread_running = false;     /**< Deamon status flag */
 static int deamon_task;             /**< Handle of deamon task / thread */
 /**
 * Deamon management function.
 */
 extern "C" __EXPORT int segway_main(int argc, char *argv[]);
 /**
 * Mainloop of deamon.
 */
 int segway_thread_main(int argc, char *argv[]);
 /**
 * Print the correct usage.
 */
 static void usage(const char *reason);
 static void
 usage(const char *reason)
 {
 	if (reason) {
 		fprintf(stderr, "%s\n", reason);
 	}
 	fprintf(stderr, "usage: segway {start|stop|status} [-p <additional params>]\n\n");
 }
 /**
 * The deamon app only briefly exists to start
 * the background job. The stack size assigned in the
 * Makefile does only apply to this management task.
 *
 * The actual stack size should be set in the call
 * to task_create().
 */
 int segway_main(int argc, char *argv[])
 {
 	if (argc < 2) {
 		usage("missing command");
 		return -1;
 	}
 	if (!strcmp(argv[1], "start")) {
 		if (thread_running) {
 			warnx("already running");
 			/* this is not an error */
 			return 0;
 		}
 		thread_should_exit = false;
 		deamon_task = px4_task_spawn_cmd("segway",
 						 SCHED_DEFAULT,
 						 SCHED_PRIORITY_MAX - 10,
 						 5120,
 						 segway_thread_main,
 						 (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
 		return 0;
 	}
 	if (!strcmp(argv[1], "stop")) {
 		thread_should_exit = true;
 		return 0;
 	}
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			warnx("is running");
 		} else {
 			warnx("not started");
 		}
 		return 0;
 	}
 	usage("unrecognized command");
 	return -1;
 }
 int segway_thread_main(int argc, char *argv[])
 {
 	warnx("starting");
 	using namespace control;
 	BlockSegwayController autopilot;
 	thread_running = true;
 	while (!thread_should_exit) {
 		autopilot.update();
 	}
 	warnx("exiting.");
 	thread_running = false;
 	return 0;
 }