From 8944ab7c90ede1cdba60a339b52a64816baeae06 Mon Sep 17 00:00:00 2001
From: C-Glick <colton.glick@gmail.com>
Date: Tue, 15 Feb 2022 21:18:02 -0600
Subject: [PATCH] Added new student files to makefile, need to fix compilation
bugs
---
crazyflie_software/crazyflie-firmware-2021.06/Makefile | 1 +
.../src/modules/interface/student_attitude_controller.h | 6 +++---
.../src/modules/interface/student_pid.h | 4 ++--
.../src/modules/src/student_attitude_controller.c | 4 ++++
4 files changed, 10 insertions(+), 5 deletions(-)
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/Makefile b/crazyflie_software/crazyflie-firmware-2021.06/Makefile
index c2c764a02..a98077e99 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/Makefile
+++ b/crazyflie_software/crazyflie-firmware-2021.06/Makefile
@@ -178,6 +178,7 @@ PROJ_OBJ += attitude_pid_controller.o sensfusion6.o stabilizer.o
PROJ_OBJ += position_estimator_altitude.o position_controller_pid.o position_controller_indi.o
PROJ_OBJ += estimator.o estimator_complementary.o
PROJ_OBJ += controller.o controller_pid.o controller_mellinger.o controller_indi.o
+PROJ_OBJ += student_attitude_controller.o student_pid.o
PROJ_OBJ += controller_student.o
PROJ_OBJ += power_distribution_$(POWER_DISTRIBUTION).o
PROJ_OBJ += collision_avoidance.o health.o
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_attitude_controller.h b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_attitude_controller.h
index 814c4c97e..5dc805370 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_attitude_controller.h
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_attitude_controller.h
@@ -24,8 +24,8 @@
* attitude_controller.h: PID-based attitude controller
*/
-#ifndef ATTITUDE_CONTROLLER_H_
-#define ATTITUDE_CONTROLLER_H_
+#ifndef STUDENT_ATTITUDE_CONTROLLER_H_
+#define STUDENT_ATTITUDE_CONTROLLER_H_
#include <stdbool.h>
#include "commander.h"
@@ -109,4 +109,4 @@ void attitudeControllerResetAllPID(void);
void attitudeControllerGetActuatorOutput(int16_t* roll, int16_t* pitch, int16_t* yaw);
-#endif /* ATTITUDE_CONTROLLER_H_ */
+#endif /* STUDENT_ATTITUDE_CONTROLLER_H_ */
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_pid.h b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_pid.h
index 480fe4dc8..761a2edec 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_pid.h
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_pid.h
@@ -1,5 +1,5 @@
-#ifndef PID_H_
-#define PID_H_
+#ifndef STUDENT_PID_H_
+#define STUDENT_PID_H_
#include <stdbool.h>
#include "filter.h"
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
index 9e2b45e4b..d3945aa5b 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
@@ -63,9 +63,12 @@ PidObject pidPitch;
PidObject pidYaw;
//attitude controller outputs
+//No longer needed since attitudeControllerCorrectRatePID modifies values in place
+/*
static int16_t rollOutput;
static int16_t pitchOutput;
static int16_t yawOutput;
+*/
static bool isInit;
@@ -177,6 +180,7 @@ void attitudeControllerResetAllPID(void)
pidReset(&pidYawRate);
}
+//no longer needed since attitudeControllerCorrectRatePID modifies the values in place
/*void attitudeControllerGetActuatorOutput(int16_t* roll, int16_t* pitch, int16_t* yaw)
{
*roll = rollOutput;
--
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