diff --git a/src/drivers/drv_mixer.h b/src/drivers/drv_mixer.h
index 1f61797c82babe681525e8a5c2392993f2c175f5..f2e3701b720ba6258e2983316bac8ff108ee9e46 100644
--- a/src/drivers/drv_mixer.h
+++ b/src/drivers/drv_mixer.h
@@ -71,31 +71,6 @@
/** reset (clear) the mixer configuration */
#define MIXERIOCRESET _MIXERIOC(1)
-/** simple channel scaler */
-struct mixer_scaler_s {
- float negative_scale;
- float positive_scale;
- float offset;
- float min_output;
- float max_output;
-};
-
-/** mixer input */
-struct mixer_control_s {
- uint8_t control_group; /**< group from which the input reads */
- uint8_t control_index; /**< index within the control group */
- struct mixer_scaler_s scaler; /**< scaling applied to the input before use */
-};
-
-/** simple mixer */
-struct mixer_simple_s {
- uint8_t control_count; /**< number of inputs */
- struct mixer_scaler_s output_scaler; /**< scaling for the output */
- struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */
-};
-
-#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
-
/**
* add a simple mixer in (struct mixer_simple_s *)arg
*/
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index fbac9c4414edd9f405604c977e5f6d0e0357fe03..ce714d73f074334741c8c234e86d87106bf098e4 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -59,6 +59,7 @@
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
+#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include "uavcan_module.hpp"
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
index 6908afeb13502d280ff0ec93831e4d944614449d..755ba5cbcf779ae58720283bd4060b9a4150df9e 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
@@ -38,6 +38,7 @@
#include "ManualSmoothingXY.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
+#include <px4_defines.h>
using namespace matrix;
diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
index 501bd20ba9f8cfec3f541aa335d274a546af1a87..8fc5df22d25fc824cc34915c2f4d2dcbd5109243 100644
--- a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
@@ -38,6 +38,7 @@
#include "StraightLine.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
+#include <px4_defines.h>
#define VEL_ZERO_THRESHOLD 0.001f // Threshold to compare if the target velocity is zero
#define DECELERATION_MAX 8.0f // The vehicles maximum deceleration TODO check to create param
diff --git a/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp b/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
index d65ec361532385aa9eb2c19f99e17c682424a9ab..5503d4bbfbdcf18fe6dfb4d6b20c7c43007dc965 100644
--- a/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
@@ -36,6 +36,7 @@
#include <cstdio>
#include <float.h>
#include <math.h>
+#include <px4_defines.h>
#include <mathlib/mathlib.h>
diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
index c690ad476bf20270924124a7d1ee2d9c90839c09..2b2075e244c0c592e33009d4ce090c1945c9adb3 100644
--- a/src/lib/battery/battery.cpp
+++ b/src/lib/battery/battery.cpp
@@ -42,6 +42,7 @@
#include "battery.h"
#include <mathlib/mathlib.h>
#include <cstring>
+#include <px4_defines.h>
Battery::Battery() :
ModuleParams(nullptr),
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index 1ffc18150c7d4c3dfc7f29037d66cd7e93fe6c52..0b508c516414c7d02ac01911cf29d97725dfe932 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -37,6 +37,7 @@
* Vector rotation library
*/
+#include <px4_defines.h>
#include "math.h"
#include "rotation.h"
diff --git a/src/lib/mathlib/math/Functions.hpp b/src/lib/mathlib/math/Functions.hpp
index 59ae0ea21067cfe71fafeb06b61c5319a6e63324..14dcd5f1699e5f0f782edb8e8a93751a57044877 100644
--- a/src/lib/mathlib/math/Functions.hpp
+++ b/src/lib/mathlib/math/Functions.hpp
@@ -39,7 +39,7 @@
#pragma once
-#include <platforms/px4_defines.h>
+#include "Limits.hpp"
namespace math
{
diff --git a/src/lib/mathlib/math/Limits.hpp b/src/lib/mathlib/math/Limits.hpp
index 4610a01e402eadc2783d9a35f088d74d36fec83f..cab5d9870706eaf50e07ebf7af58e96ad8355016 100644
--- a/src/lib/mathlib/math/Limits.hpp
+++ b/src/lib/mathlib/math/Limits.hpp
@@ -39,8 +39,13 @@
#pragma once
-#include <platforms/px4_defines.h>
#include <float.h>
+#include <math.h>
+#include <stdint.h>
+
+#ifndef MATH_PI
+#define MATH_PI 3.141592653589793238462643383280
+#endif
//this should be defined in stdint.h, but seems to be missing in the ARM toolchain (5.2.0)
#ifndef UINT64_C
@@ -90,13 +95,13 @@ inline constexpr bool isInRange(const _Tp &val, const _Tp &min_val, const _Tp &m
template<typename T>
constexpr T radians(const T degrees)
{
- return degrees * (static_cast<T>(M_PI) / static_cast<T>(180));
+ return degrees * (static_cast<T>(MATH_PI) / static_cast<T>(180));
}
template<typename T>
constexpr T degrees(const T radians)
{
- return radians * (static_cast<T>(180) / static_cast<T>(M_PI));
+ return radians * (static_cast<T>(180) / static_cast<T>(MATH_PI));
}
/** Save way to check if float is zero */
diff --git a/src/lib/mathlib/math/SearchMin.hpp b/src/lib/mathlib/math/SearchMin.hpp
index f265c8ed688a9193f54181e9901ca81e7e5da3a5..668f291f97ded8e7a3f767798d529582d9b54070 100644
--- a/src/lib/mathlib/math/SearchMin.hpp
+++ b/src/lib/mathlib/math/SearchMin.hpp
@@ -40,8 +40,6 @@
#pragma once
-#include <platforms/px4_defines.h>
-
namespace math
{
static constexpr double GOLDEN_RATIO = 1.6180339887; //(sqrt(5)+1)/2
diff --git a/src/lib/mixer/mixer.cpp b/src/lib/mixer/mixer.cpp
index ed176b6f63d765780d6a90c2e049547f012503b6..2907fa09f960bca74d5ed04c4735d9ceab62fb63 100644
--- a/src/lib/mixer/mixer.cpp
+++ b/src/lib/mixer/mixer.cpp
@@ -39,6 +39,7 @@
#include "mixer.h"
+#include <math.h>
#include <cstring>
#include <ctype.h>
diff --git a/src/lib/mixer/mixer.h b/src/lib/mixer/mixer.h
index fcf065a11a36633510d962df2ed74b1c50c89b6d..011db6b98d3716d1a043fa6fabdac7955bc75d66 100644
--- a/src/lib/mixer/mixer.h
+++ b/src/lib/mixer/mixer.h
@@ -125,19 +125,41 @@
*/
-#ifndef _SYSTEMLIB_MIXER_MIXER_H
-#define _SYSTEMLIB_MIXER_MIXER_H value
+#pragma once
-#include <px4_config.h>
-#include "drivers/drv_mixer.h"
+#include <stdint.h>
+
+/** simple channel scaler */
+struct mixer_scaler_s {
+ float negative_scale;
+ float positive_scale;
+ float offset;
+ float min_output;
+ float max_output;
+};
+
+/** mixer input */
+struct mixer_control_s {
+ uint8_t control_group; /**< group from which the input reads */
+ uint8_t control_index; /**< index within the control group */
+ struct mixer_scaler_s scaler; /**< scaling applied to the input before use */
+};
+
+/** simple mixer */
+struct mixer_simple_s {
+ uint8_t control_count; /**< number of inputs */
+ struct mixer_scaler_s output_scaler; /**< scaling for the output */
+ struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */
+};
+
+#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
-#include "mixer_load.h"
/**
* Abstract class defining a mixer mixing zero or more inputs to
* one or more outputs.
*/
-class __EXPORT Mixer
+class Mixer
{
public:
enum class Airmode : int32_t {
@@ -304,7 +326,7 @@ private:
* Group of mixers, built up from single mixers and processed
* in order when mixing.
*/
-class __EXPORT MixerGroup : public Mixer
+class MixerGroup : public Mixer
{
public:
MixerGroup(ControlCallback control_cb, uintptr_t cb_handle);
@@ -440,7 +462,7 @@ private:
*
* Used as a placeholder for output channels that are unassigned in groups.
*/
-class __EXPORT NullMixer : public Mixer
+class NullMixer : public Mixer
{
public:
NullMixer();
@@ -481,7 +503,7 @@ public:
*
* Collects zero or more inputs and mixes them to a single output.
*/
-class __EXPORT SimpleMixer : public Mixer
+class SimpleMixer : public Mixer
{
public:
/**
@@ -582,7 +604,7 @@ enum class MultirotorGeometry : MultirotorGeometryUnderlyingType;
* Collects four inputs (roll, pitch, yaw, thrust) and mixes them to
* a set of outputs based on the configured geometry.
*/
-class __EXPORT MultirotorMixer : public Mixer
+class MultirotorMixer : public Mixer
{
public:
/**
@@ -813,7 +835,7 @@ struct mixer_heli_s {
* Collects four inputs (roll, pitch, yaw, thrust) and mixes them to servo commands
* for swash plate tilting and throttle- and pitch curves.
*/
-class __EXPORT HelicopterMixer : public Mixer
+class HelicopterMixer : public Mixer
{
public:
/**
@@ -870,5 +892,3 @@ private:
HelicopterMixer(const HelicopterMixer &);
HelicopterMixer operator=(const HelicopterMixer &);
};
-
-#endif
diff --git a/src/lib/mixer/mixer_helicopter.cpp b/src/lib/mixer/mixer_helicopter.cpp
index df192b8b15491ebb66e2ce9c8a64017a7e43609e..87441ee7bcf096e712fcb07f4f03cf8f705f5816 100644
--- a/src/lib/mixer/mixer_helicopter.cpp
+++ b/src/lib/mixer/mixer_helicopter.cpp
@@ -40,6 +40,8 @@
#include "mixer.h"
#include <mathlib/mathlib.h>
+#include <cstdio>
+#include <px4_defines.h>
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
diff --git a/src/lib/mixer/mixer_multirotor.cpp b/src/lib/mixer/mixer_multirotor.cpp
index bd749fdf523b709ceb7189356525a850c6d8a601..069bda4e6b260719d86dbfd6a56865623297ce92 100644
--- a/src/lib/mixer/mixer_multirotor.cpp
+++ b/src/lib/mixer/mixer_multirotor.cpp
@@ -41,6 +41,7 @@
#include <cfloat>
#include <cstring>
+#include <cstdio>
#include <mathlib/mathlib.h>
diff --git a/src/lib/mixer/mixer_simple.cpp b/src/lib/mixer/mixer_simple.cpp
index 94cc725713c9f8665a6776dad12eaaf9b40856ba..12a958d7797a84f8b31b2553da0b3961a0363652 100644
--- a/src/lib/mixer/mixer_simple.cpp
+++ b/src/lib/mixer/mixer_simple.cpp
@@ -38,6 +38,7 @@
*/
#include "mixer.h"
+#include <stdio.h>
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
diff --git a/src/lib/terrain_estimation/terrain_estimator.cpp b/src/lib/terrain_estimation/terrain_estimator.cpp
index f007257ebf34073949e2c97835776ee40a662c2c..ed1f46bde5d471d80b764c5576e35ce662526c65 100644
--- a/src/lib/terrain_estimation/terrain_estimator.cpp
+++ b/src/lib/terrain_estimation/terrain_estimator.cpp
@@ -38,6 +38,7 @@
#include "terrain_estimator.h"
#include <lib/ecl/geo/geo.h>
+#include <px4_defines.h>
#define DISTANCE_TIMEOUT 100000 // time in usec after which laser is considered dead
diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index d31dd0f3f6bce96905d4b8a0f7f589e194bc902d..bbb99468eb23e07d2d809512efaff96d6ce2cde7 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -39,6 +39,7 @@
#include <float.h>
#include <mathlib/mathlib.h>
#include "Utility/ControlMath.hpp"
+#include <px4_defines.h>
using namespace matrix;
diff --git a/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp b/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
index a528552d215074109874a7bec66f7ba34d72f537..4daac7de244220e1fa7e822b136da7c1b90add94 100644
--- a/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
@@ -54,6 +54,7 @@
#include <uORB/topics/esc_status.h>
#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_load.h>
#include <battery/battery.h>
#include <bebop_bus/BebopBus.hpp>
diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp
index 133a378b9f625973c0c787234090c20ce9e0f671..9bc520777f66e573ca8279ded865dff9b5fe946f 100644
--- a/src/systemcmds/mixer/mixer.cpp
+++ b/src/systemcmds/mixer/mixer.cpp
@@ -32,7 +32,7 @@
****************************************************************************/
/**
- * @file mixer.c
+ * @file mixer.cpp
*
* Mixer utility.
*/
@@ -48,7 +48,9 @@
#include <errno.h>
#include <ctype.h>
+#include <drivers/drv_mixer.h>
#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_load.h>
#include <uORB/topics/actuator_controls.h>
/**
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index eb7acd6f880cd20db6d4b2cbf5363ea30c1190a4..b06b2d62d225a30f4d850e8640ccb1bc877b4e3f 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -44,6 +44,7 @@
#include <px4_config.h>
#include <mixer/mixer.h>
+#include <mixer/mixer_load.h>
#include <pwm_limit/pwm_limit.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>