Merge James's controllib bits into a separate library module.

Add a top-level mathlib header to avoid having to dig around for specific headers.

apps/controllib/Makefile

@@ -0,0 +1,51 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Control library
+#
+CXXSRCS		+= block/Block.cpp \
+		   block/BlockParam.cpp \
+		   block/UOrbPublication.cpp \
+		   block/UOrbSubscription.cpp \
+		   blocks.cpp \
+		   fixedwing.cpp
+
+CXXHDRS		+= block/Block.hpp \
+		   block/BlockParam.hpp \
+		   block/UOrbPublication.hpp \
+		   block/UOrbSubscription.hpp \
+		   blocks.hpp \
+		   fixedwing.hpp
+
+include $(APPDIR)/mk/app.mk

apps/controllib/blocks.hpp

@@ -42,7 +42,7 @@
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
-#include <systemlib/test/test.hpp>
+#include <mathlib/math/test/test.hpp>
 
 #include "block/Block.hpp"
 #include "block/BlockParam.hpp"

apps/examples/control_demo/control_demo.cpp

@@ -43,7 +43,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/control/fixedwing.hpp>
+#include <controllib/fixedwing.hpp>
 #include <systemlib/param/param.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>

apps/examples/math_demo/math_demo.cpp

@@ -43,12 +43,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <systemlib/systemlib.h>
-#include <mathlib/math/Vector.hpp>
+#include <mathlib/mathlib.h>
-#include <mathlib/math/Matrix.hpp>
-#include <mathlib/math/Quaternion.hpp>
-#include <mathlib/math/Vector3.hpp>
-#include <mathlib/math/Dcm.hpp>
-#include <mathlib/math/EulerAngles.hpp>
 
 /**
  * Management function.

apps/mathlib/Makefile

@@ -32,9 +32,8 @@
 ############################################################################
 
 #
-# System math library
+# Math library
 #
-
 CXXSRCS		 = math/test/test.cpp \
 		   math/Vector.cpp \
 		   math/Vector3.cpp \
@@ -51,9 +50,7 @@ CXXHDRS		 = math/test/test.hpp \
 		   math/Dcm.hpp \
 		   math/Matrix.hpp
 
-#
 # XXX this really should be a CONFIG_* test
-#
 ifeq ($(TARGET),px4fmu)
 INCLUDES	+= math/arm
 CXXSRCS		+= math/arm/Vector.cpp \

apps/mathlib/math/Dcm.cpp

@@ -37,7 +37,7 @@
  * math direction cosine matrix
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 #include "Dcm.hpp"
 #include "Quaternion.hpp"

apps/mathlib/math/EulerAngles.cpp

@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 #include "EulerAngles.hpp"
 #include "Quaternion.hpp"

apps/mathlib/math/Matrix.cpp

@@ -37,7 +37,7 @@
  * matrix code
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 #include <math.h>
 
 #include "Matrix.hpp"

apps/mathlib/math/Quaternion.cpp

@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 
 #include "Quaternion.hpp"

apps/mathlib/math/Vector.cpp

@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 #include "Vector.hpp"
 

apps/mathlib/math/Vector3.cpp

@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 #include "Vector3.hpp"
 

apps/mathlib/mathlib.h

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   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 mathlib.h
+ *
+ * Common header for mathlib exports.
+ */
+
+#ifdef __cplusplus
+
+#include "math/Dcm.hpp"
+#include "math/EulerAngles.hpp"
+#include "math/Matrix.hpp"
+#include "math/Quaternion.hpp"
+#include "math/Vector.hpp"
+#include "math/Vector3.hpp"
+
+#endif
+
+#ifdef CONFIG_ARCH_ARM
+
+#include "CMSIS/Include/arm_math.h"
+
+#endif

nuttx/configs/px4fmu/nsh/appconfig

@@ -48,6 +48,11 @@ CONFIGURED_APPS += systemlib/mixer
 # Math library
 CONFIGURED_APPS += mathlib
 CONFIGURED_APPS += mathlib/CMSIS
+CONFIGURED_APPS += examples/math_demo
+
+# Control library
+CONFIGURED_APPS	+= controllib
+CONFIGURED_APPS += examples/control_demo
 
 # System utility commands
 CONFIGURED_APPS += systemcmds/reboot
@@ -69,9 +74,6 @@ CONFIGURED_APPS += systemcmds/delay_test
 # https://pixhawk.ethz.ch/px4/dev/deamon
 # CONFIGURED_APPS += examples/px4_deamon_app
 
-# Math library
-CONFIGURED_APPS += examples/math_demo
-
 # Shared object broker; required by many parts of the system.
 CONFIGURED_APPS += uORB