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Fix small errors (#3006)

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* [gvf] fix mode name

* [stab] fix typo and factorize files in stab modules
This commit is contained in:
Gautier Hattenberger
2023-03-07 14:13:49 +01:00
committed by GitHub
parent 7f620c0449
commit 04ad9f6097
12 changed files with 6 additions and 17 deletions
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conf/modules/stabilization_float_euler.xml
-1
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@@ -69,7 +69,6 @@
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<file name="stabilization_attitude_euler_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_ref_euler_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_TYPE_FLOAT"/>
<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization_attitude_euler_float.h" type="string"/>
</makefile>
conf/modules/stabilization_float_quat.xml
-2
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@@ -75,8 +75,6 @@
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_attitude_quat_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_ref_quat_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_TYPE_FLOAT"/>
<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization_attitude_quat_float.h" type="string"/>
</makefile>
conf/modules/stabilization_heli_indi.xml
-2
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@@ -56,8 +56,6 @@
<init fun="stabilization_attitude_init()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_attitude_heli_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_TYPE_INT"/>
<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization/stabilization_attitude_heli_indi.h" type="string"/>
</makefile>
conf/modules/stabilization_indi.xml
-2
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@@ -65,8 +65,6 @@
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_quat_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="wls_alloc.c" dir="$(SRC_FIRMWARE)/stabilization/wls"/>
<file name="qr_solve.c" dir="math/qr_solve"/>
<file name="r8lib_min.c" dir="math/qr_solve"/>
conf/modules/stabilization_indi_simple.xml
-2
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@@ -82,8 +82,6 @@
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_indi_simple.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_quat_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_TYPE_INT"/>
<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization/stabilization_attitude_quat_indi.h" type="string"/>
<define name="STABILIZATION_ATTITUDE_INDI_SIMPLE" value="true"/>
conf/modules/stabilization_int_euler.xml
-1
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@@ -66,7 +66,6 @@
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_attitude_euler_int.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_ref_euler_int.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_TYPE_INT"/>
<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization_attitude_euler_int.h" type="string"/>
</makefile>
conf/modules/stabilization_int_quat.xml
-2
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@@ -72,8 +72,6 @@
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_attitude_quat_int.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_ref_quat_int.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_TYPE_INT"/>
<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization_attitude_quat_int.h" type="string"/>
</makefile>
conf/modules/stabilization_passthrough.xml
-1
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@@ -16,7 +16,6 @@
<init fun="stabilization_attitude_init()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_attitude_passthrough.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_NO_REF"/>
<define name="STABILIZATION_ATTITUDE_TYPE_INT"/>
<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization/stabilization_attitude_passthrough.h" type="string"/>
conf/modules/stabilization_rotorcraft.xml
+2
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@@ -27,5 +27,7 @@
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<file name="stabilization.c" dir="$(SRC_FIRMWARE)"/>
<file name="stabilization_none.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
</makefile>
</module>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
+1 -1
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@@ -158,7 +158,7 @@ void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy)
void stabilization_attitude_set_quat_setpoint_i(struct Int32Quat *quat)
{
struct FloatQuat quat_f,
struct FloatQuat quat_f;
QUAT_FLOAT_OF_BFP(quat_f, *quat);
float_eulers_of_quat(&stab_att_sp_euler, &quat_f);
}
sw/airborne/modules/guidance/gvf/gvf_low_level_control.h
+2 -2
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@@ -31,8 +31,8 @@
#include "firmwares/fixedwing/nav.h"
#include "modules/nav/common_nav.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#define gvf_setNavMode(_navMode) (nav.horizontal_mode = _navMode)
#define GVF_MODE_ROUTE NAV_HORIZONTAL_MODE_ROUTE
#define gvf_setNavMode(_navMode) (horizontal_mode = _navMode)
#define GVF_MODE_ROUTE HORIZONTAL_MODE_ROUTE
#define GVF_MODE_WAYPOINT HORIZONTAL_MODE_WAYPOINT
#define GVF_MODE_CIRCLE HORIZONTAL_MODE_CIRCLE
sw/airborne/modules/guidance/gvf_parametric/gvf_parametric.cpp
+1 -1
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@@ -355,7 +355,7 @@ bool gvf_parametric_2D_trefoil_wp(uint8_t wp, float w1, float w2, float ratio, f
bool gvf_parametric_3D_ellipse_XYZ(float xo, float yo, float r, float zl, float zh, float alpha)
{
nav_horizontal_mode = HORIZONTAL_MODE_CIRCLE; // Circle for the 2D GCS
horizontal_mode = HORIZONTAL_MODE_CIRCLE; // Circle for the 2D GCS
// Safety first! If the asked altitude is low
if (zl > zh) {