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Use natural order of ino files includes in simulation

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In Arduino, ino files are included in alphabetical order.
Cleanup unused function declarations in simulation, add missing.
Rename flu to frd function to match the code style.
This commit is contained in:
Oleg Kalachev 2025-02-28 19:06:58 +03:00
parent 4e3e8c70b0
commit 5bf2e06c5a
3 changed files with 26 additions and 14 deletions
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4
flix/mavlink.ino
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@ -43,7 +43,7 @@ void sendMavlink() {
lastFast = t; lastFast = t;
const float zeroQuat[] = {0, 0, 0, 0}; const float zeroQuat[] = {0, 0, 0, 0};
Quaternion attitudeFRD = FLU2FRD(attitude); // MAVLink uses FRD coordinate system Quaternion attitudeFRD = fluToFrd(attitude); // MAVLink uses FRD coordinate system
mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat); time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
sendMessage(&msg); sendMessage(&msg);
@ -206,7 +206,7 @@ void mavlinkPrint(const char* str) {
} }
// Convert Forward-Left-Up to Forward-Right-Down quaternion // Convert Forward-Left-Up to Forward-Right-Down quaternion
inline Quaternion FLU2FRD(const Quaternion &q) { inline Quaternion fluToFrd(const Quaternion &q) {
return Quaternion(q.w, q.x, -q.y, -q.z); return Quaternion(q.w, q.x, -q.y, -q.z);
} }

17
gazebo/flix.h
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@ -23,6 +23,7 @@ Vector rates;
Quaternion attitude; Quaternion attitude;
// declarations // declarations
void step();
void computeLoopRate(); void computeLoopRate();
void applyGyro(); void applyGyro();
void applyAcc(); void applyAcc();
@ -31,25 +32,35 @@ void interpretRC();
void controlAttitude(); void controlAttitude();
void controlRate(); void controlRate();
void controlTorque(); void controlTorque();
void showTable(); const char* getModeName();
void sendMotors(); void sendMotors();
bool motorsActive(); bool motorsActive();
void testMotor(uint8_t n);
void print(const char* format, ...); void print(const char* format, ...);
void doCommand(String str, bool echo); void doCommand(String str, bool echo);
void cliTestMotor(uint8_t n); void handleInput();
void calibrateRC();
void normalizeRC(); void normalizeRC();
void printRCCal(); void printRCCal();
void dumpLog();
void processMavlink(); void processMavlink();
void sendMavlink(); void sendMavlink();
void sendMessage(const void *msg); void sendMessage(const void *msg);
void receiveMavlink(); void receiveMavlink();
void handleMavlink(const void *_msg); void handleMavlink(const void *_msg);
void mavlinkPrint(const char* str); void mavlinkPrint(const char* str);
inline Quaternion fluToFrd(const Quaternion &q);
void failsafe(); void failsafe();
void armingFailsafe(); void armingFailsafe();
void rcLossFailsafe(); void rcLossFailsafe();
void descend(); void descend();
inline Quaternion FLU2FRD(const Quaternion &q); int parametersCount();
const char *getParameterName(int index);
float getParameter(int index);
float getParameter(const char *name);
bool setParameter(const char *name, const float value);
void printParameters();
void resetParameters();
// mocks // mocks
void setLED(bool on) {}; void setLED(bool on) {};

19
gazebo/simulator.cpp
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@ -17,17 +17,18 @@
#include "Arduino.h" #include "Arduino.h"
#include "flix.h" #include "flix.h"
#include "cli.ino"
#include "control.ino"
#include "estimate.ino"
#include "failsafe.ino"
#include "log.ino"
#include "lpf.h"
#include "mavlink.ino"
#include "motors.ino"
#include "parameters.ino"
#include "rc.ino" #include "rc.ino"
#include "time.ino" #include "time.ino"
#include "motors.ino"
#include "estimate.ino"
#include "control.ino"
#include "log.ino"
#include "parameters.ino"
#include "cli.ino"
#include "mavlink.ino"
#include "failsafe.ino"
#include "lpf.h"
using ignition::math::Vector3d; using ignition::math::Vector3d;
using namespace gazebo; using namespace gazebo;