Missed files from last commit

quad/computation_graph/src/node_accumulator.c

-#include "node_accumulator.h"
-#include <stdlib.h>
-
-struct accum_state {
-    double accumulated;
-};
-
-static void accum_nodes(void *state, const double* params, const double *inputs, double *outputs) {
-    struct accum_state* my_state = (struct accum_state*)state;
-    my_state->accumulated += inputs[ACCUM_IN];
-    outputs[ACCUMULATED] = my_state->accumulated;
-}
-
-static void reset(void *state) {
-    ((struct accum_state*)state)->accumulated = 0;
-}
-
-
-static const char* const in_names[2] = {"Accumulator in"};
-static const char* const out_names[1] = {"Accumulated"};
-static const char* const param_names[0] = {};
-const struct graph_node_type node_accum_type = {
-        .input_names = in_names,
-        .output_names = out_names,
-        .param_names = param_names,
-        .n_inputs = 1,
-        .n_outputs = 1,
-        .n_params = 0,
-        .execute = accum_nodes,
-        .reset = reset
-};
-
-int graph_add_node_accum(struct computation_graph *graph, const char* name) {
-    struct accum_state* node_state = malloc(sizeof(struct accum_state));
-    if (sizeof(struct accum_state) && !node_state) {
-        return -1; // malloc failed
-    }
-    return graph_add_node(graph, name, &node_accum_type, node_state);
-}

quad/computation_graph/src/node_accumulator.h

-#ifndef __NODE_ACCUMULATOR_H__
-#define __NODE_ACCUMULATOR_H__
-#include "computation_graph.h"
-
-int graph_add_node_accum(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_accum_type;
-
-enum graph_node_accum_inputs {
-    ACCUM_IN,
-};
-
-enum graph_node_accum_outputs {
-    ACCUMULATED
-};
-#endif // __NODE_ACCUMULATOR_H__
\ No newline at end of file

quad/computation_graph/src/node_add.c

-#include "node_add.h"
-#include <stdlib.h>
-
-static void add_nodes(void *state, const double* params, const double *inputs, double *outputs) {
-    outputs[ADD_SUM] = inputs[ADD_SUMMAND1] + inputs[ADD_SUMMAND2];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[2] = {"Summand 1", "Summand 2"};
-static const char* const out_names[1] = {"Sum"};
-static const char* const param_names[0] = {};
-const struct graph_node_type node_add_type = {
-        .input_names = in_names,
-        .output_names = out_names,
-        .param_names = param_names,
-        .n_inputs = 2,
-        .n_outputs = 1,
-        .n_params = 0,
-        .execute = add_nodes,
-        .reset = reset
-};
-
-int graph_add_node_add(struct computation_graph *graph, const char* name) {
-    return graph_add_node(graph, name, &node_add_type, NULL);
-}

quad/computation_graph/src/node_add.h

-#ifndef __NODE_ADD_H__
-#define __NODE_ADD_H__
-#include "computation_graph.h"
-
-int graph_add_node_add(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_add_type;
-
-enum graph_node_add_inputs {
-    ADD_SUMMAND1,
-    ADD_SUMMAND2,
-};
-
-enum graph_node_add_outputs {
-    ADD_SUM
-};
-#endif // __NODE_ADD_H__
\ No newline at end of file

quad/computation_graph/src/node_constant.c

-#include "node_constant.h"
-#include <stdlib.h>
-
-static void output_const(void *state, const double *params, const double *inputs, double *outputs) {
-    outputs[CONST_VAL] = params[CONST_SET];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[0] = {};
-static const char* const out_names[1] = {"Constant"};
-static const char* const param_names[1] = {"Constant"};
-const struct graph_node_type node_const_type = {
-        .input_names = in_names,
-        .output_names = out_names,
-        .param_names = param_names,
-        .n_inputs = 0,
-        .n_outputs = 1,
-        .n_params = 1,
-        .execute = output_const,
-        .reset = reset
-};
-
-int graph_add_node_const(struct computation_graph *graph, const char* name) {
-    return graph_add_node(graph, name, &node_const_type, NULL);
-}

quad/computation_graph/src/node_constant.h

-#ifndef __NODE_CONSTANT_H__
-#define __NODE_CONSTANT_H__
-#include "computation_graph.h"
-
-int graph_add_node_const(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_const_type;
-
-enum graph_node_const_params {
-    CONST_SET
-};
-
-enum graph_node_const_outputs {
-    CONST_VAL
-};
-#endif //__NODE_CONSTANT_H__
\ No newline at end of file

quad/computation_graph/src/node_gain.c

-#include "node_gain.h"
-#include <stdlib.h>
-
-static void scale_nodes(void *state, const double* params, const double *inputs, double *outputs) {
-    outputs[GAIN_RESULT] = inputs[GAIN_INPUT] * params[GAIN_GAIN];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[1] = {"Input"};
-static const char* const out_names[1] = {"Amplified"};
-static const char* const param_names[1] = {"Gain"};
-const struct graph_node_type node_gain_type = {
-        .input_names = in_names,
-        .output_names = out_names,
-        .param_names = param_names,
-        .n_inputs = 1,
-        .n_outputs = 1,
-        .n_params = 1,
-        .execute = scale_nodes,
-        .reset = reset
-};
-
-int graph_add_node_gain(struct computation_graph *graph, const char* name) {
-    return graph_add_node(graph, name, &node_gain_type, NULL);
-}

quad/computation_graph/src/node_gain.h

-#ifndef __NODE_GAIN_H__
-#define __NODE_GAIN_H__
-#include "computation_graph.h"
-
-int graph_add_node_gain(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_gain_type;
-
-enum graph_node_pow_inputs {
-    GAIN_INPUT
-};
-
-enum graph_node_pow_params {
-    GAIN_GAIN
-};
-
-enum graph_node_gain_outputs {
-    GAIN_RESULT
-};
-#endif // __NODE_GAIN_H__
\ No newline at end of file

quad/computation_graph/src/node_mult.c

-#include "node_mult.h"
-#include <stdlib.h>
-
-static void mult_nodes(void *state, const double* params, const double *inputs, double *outputs) {
-    outputs[MULT_PRODUCT] = inputs[MULT_MULTIPLICAND1] * inputs[MULT_MULTIPLICAND2];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[2] = {"Multiplicand 1", "Multiplicand 2"};
-static const char* const out_names[1] = {"Product"};
-static const char* const param_names[0] = {};
-const struct graph_node_type node_mult_type = {
-        .input_names = in_names,
-        .output_names = out_names,
-        .param_names = param_names,
-        .n_inputs = 2,
-        .n_outputs = 1,
-        .n_params = 0,
-        .execute = mult_nodes,
-        .reset = reset
-};
-
-int graph_add_node_mult(struct computation_graph *graph, const char* name) {
-    return graph_add_node(graph, name, &node_mult_type, NULL);
-}

quad/computation_graph/src/node_mult.h

-#ifndef __NODE_MULT_H__
-#define __NODE_MULT_H__
-#include "computation_graph.h"
-
-int graph_add_node_mult(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_mult_type;
-
-enum graph_node_mult_inputs {
-    MULT_MULTIPLICAND1,
-    MULT_MULTIPLICAND2,
-};
-
-enum graph_node_mult_outputs {
-    MULT_PRODUCT
-};
-
-#endif  // __NODE_MULT_H__
\ No newline at end of file

quad/computation_graph/src/node_pow.c

-#include "node_pow.h"
-#include <stdlib.h>
-#include <math.h>
-
-static void pow_nodes(void *state, const double* params, const double *inputs, double *outputs) {
-    outputs[POW_RESULT] = pow(inputs[POW_BASE], params[POW_EXP]);
-}
-static void reset(void *state) {}
-
-static const char* const in_names[1] = {"Base"};
-static const char* const out_names[1] = {"Result"};
-static const char* const param_names[1] = {"Exponent"};
-const struct graph_node_type node_pow_type = {
-        .input_names = in_names,
-        .output_names = out_names,
-        .param_names = param_names,
-        .n_inputs = 1,
-        .n_outputs = 1,
-        .n_params = 1,
-        .execute = pow_nodes,
-        .reset = reset
-};
-
-int graph_add_node_pow(struct computation_graph *graph, const char* name) {
-    return graph_add_node(graph, name, &node_pow_type, NULL);
-}

quad/computation_graph/src/node_pow.h

-#ifndef __NODE_POW_H__
-#define __NODE_POW_H__
-#include "computation_graph.h"
-
-int graph_add_node_pow(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_pow_type;
-
-enum graph_node_pow_inputs {
-    POW_BASE
-};
-
-enum graph_node_pow_params {
-    POW_EXP
-};
-
-enum graph_node_pow_outputs {
-    POW_RESULT
-};
-#endif // __NODE_POW_H__
\ No newline at end of file

quad/sw/modular_quad_pid/src/main.c

@@ -78,10 +78,10 @@ int main()
 
 		// Run the control algorithm
 		control_algorithm(&(structs.log_struct), &(structs.user_input_struct), &(structs.sensor_struct), &(structs.setpoint_struct),
-				&(structs.parameter_struct), &(structs.user_defined_struct), &(structs.raw_actuator_struct), &structs);
+				&(structs.parameter_struct), &(structs.user_defined_struct), &(structs.actuator_command_struct), &structs);
 
 		// Process the commands going to the actuators
-		actuator_command_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_actuator_struct), &(structs.actuator_command_struct));
+		//actuator_command_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_actuator_struct), &(structs.actuator_command_struct));
 
 		// send the actuator commands
 		send_actuator_commands(&(structs.log_struct), &(structs.actuator_command_struct));