From 931cefe43e3558b76621ece1d423cc062d852015 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Mon, 28 Oct 2013 22:23:31 +0100 Subject: [PATCH] [rotorcraft] attempt at some cleaner stabilization includes --- .../stabilization/stabilization_attitude_common_int.h | 3 --- .../rotorcraft/stabilization/stabilization_attitude_quat_int.h | 2 -- .../rotorcraft/stabilization/stabilization_attitude_ref_int.h | 2 +- .../stabilization/stabilization_attitude_ref_quat_int.h | 3 +++ 4 files changed, 4 insertions(+), 6 deletions(-) diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h index 689c5d0ffa..b65fbd30d8 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h @@ -45,9 +45,6 @@ extern struct Int32Eulers stabilization_att_sum_err; extern int32_t stabilization_att_fb_cmd[COMMANDS_NB]; extern int32_t stabilization_att_ff_cmd[COMMANDS_NB]; -// common so it can be used for downlink/debug -extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC - #define stabilization_attitude_common_int_SetKiPhi(_val) { \ stabilization_gains.i.x = _val; \ stabilization_att_sum_err.phi = 0; \ diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h index 1f9f78fc4f..84c954ac86 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h @@ -27,6 +27,4 @@ #include "math/pprz_algebra_int.h" -extern struct Int32Quat stab_att_sp_quat; ///< with #INT32_QUAT_FRAC - #endif /* STABILIZATION_ATTITUDE_QUAT_INT_H */ diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h index 24175b5fc2..6f9c393b14 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h @@ -29,8 +29,8 @@ #include "math/pprz_algebra_int.h" +extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC extern struct Int32Eulers stab_att_ref_euler; ///< with #REF_ANGLE_FRAC -extern struct Int32Quat stab_att_ref_quat; ///< with #INT32_QUAT_FRAC extern struct Int32Rates stab_att_ref_rate; ///< with #REF_RATE_FRAC extern struct Int32Rates stab_att_ref_accel; ///< with #REF_ACCEL_FRAC diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h index 4fe03f3218..39a6bc9d9b 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h @@ -32,6 +32,9 @@ #include "stabilization_attitude_ref_int.h" +extern struct Int32Quat stab_att_sp_quat; ///< with #INT32_QUAT_FRAC +extern struct Int32Quat stab_att_ref_quat; ///< with #INT32_QUAT_FRAC + void stabilization_attitude_ref_enter(void); #endif /* STABILIZATION_ATTITUDE_INT_REF_QUAT_INT_H */