Landing slope move to standalone library

- this is shared by both the FW position controller and navigator's
   missiong feasibility checker

src/lib/CMakeLists.txt

@@ -44,6 +44,7 @@ add_subdirectory(conversion)
 add_subdirectory(drivers)
 add_subdirectory(ecl)
 add_subdirectory(FlightTasks)
+add_subdirectory(landing_slope)
 add_subdirectory(led)
 add_subdirectory(mathlib)
 add_subdirectory(mixer)

src/lib/landing_slope/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2018 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_library(landing_slope Landingslope.cpp)

src/lib/landing_slope/Landingslope.cpp

@@ -83,7 +83,6 @@ Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, flo
 	}
 
 	return 0.0f;
-
 }
 
 float
@@ -97,5 +96,36 @@ Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float
 	}
 
 	return 0.0f;
-
+}
+
+/**
+ *
+ * @return Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+ */
+float Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement,
+		float landing_slope_angle_rad)
+{
+	// flare_relative_alt is negative
+	return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad);
+}
+
+/**
+ *
+ * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+ */
+float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude,
+		float horizontal_slope_displacement, float landing_slope_angle_rad)
+{
+	return getLandingSlopeRelativeAltitude(wp_landing_distance, horizontal_slope_displacement,
+					       landing_slope_angle_rad) + wp_landing_altitude;
+}
+
+/**
+ *
+ * @return distance to landing waypoint of point on landing slope at altitude=slope_altitude
+ */
+float Landingslope::getLandingSlopeWPDistance(float slope_altitude, float wp_landing_altitude,
+		float horizontal_slope_displacement, float landing_slope_angle_rad)
+{
+	return (slope_altitude - wp_landing_altitude) / tanf(landing_slope_angle_rad) + horizontal_slope_displacement;
 }

src/lib/landing_slope/Landingslope.hpp

@@ -80,34 +80,22 @@ public:
 	 *
 	 * @return Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
 	 */
-	__EXPORT static float getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement,
-			float landing_slope_angle_rad)
-	{
-		// flare_relative_alt is negative
-		return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad);
-	}
+	static float getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement,
+			float landing_slope_angle_rad);
 
 	/**
 	 *
 	 * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
 	 */
-	__EXPORT static float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude,
-			float horizontal_slope_displacement, float landing_slope_angle_rad)
-	{
-		return getLandingSlopeRelativeAltitude(wp_landing_distance, horizontal_slope_displacement,
-						       landing_slope_angle_rad) + wp_landing_altitude;
-	}
+	static float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude,
+			float horizontal_slope_displacement, float landing_slope_angle_rad);
 
 	/**
 	 *
 	 * @return distance to landing waypoint of point on landing slope at altitude=slope_altitude
 	 */
-	__EXPORT static float getLandingSlopeWPDistance(float slope_altitude, float wp_landing_altitude,
-			float horizontal_slope_displacement, float landing_slope_angle_rad)
-	{
-		return (slope_altitude - wp_landing_altitude) / tanf(landing_slope_angle_rad) + horizontal_slope_displacement;
-
-	}
+	static float getLandingSlopeWPDistance(float slope_altitude, float wp_landing_altitude,
+					       float horizontal_slope_displacement, float landing_slope_angle_rad);
 
 	float getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
 						float bearing_airplane_currwp);

src/modules/fw_pos_control_l1/CMakeLists.txt

@@ -40,11 +40,11 @@ px4_add_module(
 	STACK_MAIN 1200
 	SRCS
 		FixedwingPositionControl.cpp
-		Landingslope.cpp
 	DEPENDS
 		git_ecl
 		ecl_l1
 		ecl_tecs
 		launchdetection
+		landing_slope
 		runway_takeoff
 	)

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -48,7 +48,6 @@
 #ifndef FIXEDWINGPOSITIONCONTROL_HPP_
 #define FIXEDWINGPOSITIONCONTROL_HPP_
 
-#include "Landingslope.hpp"
 #include "launchdetection/LaunchDetector.h"
 #include "runway_takeoff/RunwayTakeoff.h"
 
@@ -58,6 +57,7 @@
 #include <lib/ecl/geo/geo.h>
 #include <lib/ecl/l1/ecl_l1_pos_controller.h>
 #include <lib/ecl/tecs/tecs.h>
+#include <lib/landing_slope/Landingslope.hpp>
 #include <lib/mathlib/mathlib.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_config.h>

src/modules/navigator/CMakeLists.txt

@@ -56,4 +56,5 @@ px4_add_module(
 	DEPENDS
 		git_ecl
 		ecl_geo
+		landing_slope
 	)

src/modules/navigator/mission_feasibility_checker.cpp

@@ -45,9 +45,9 @@
 #include "navigator.h"
 
 #include <drivers/drv_pwm_output.h>
-#include <fw_pos_control_l1/Landingslope.hpp>
 #include <lib/ecl/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
+#include <lib/landing_slope/Landingslope.hpp>
 #include <systemlib/mavlink_log.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/position_controller_landing_status.h>