GCC 4.7 Template Use Fix

src/drivers/md25/md25.cpp

@@ -52,7 +52,7 @@
 #include <arch/board/board.h>
 #include <mavlink/mavlink_log.h>
 
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 
@@ -587,7 +587,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
 	float prev_revolution = md25.getRevolutions1();
 
 	// debug publication
-	control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
+	uORB::Publication<debug_key_value_s> debug_msg(NULL,
 			ORB_ID(debug_key_value));
 
 	// sine wave for motor 1

src/drivers/md25/md25.hpp

@@ -46,7 +46,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -270,7 +270,7 @@ class MD25 : public device::I2C
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	control::UOrbSubscription<actuator_controls_s> _actuators;
+	uORB::Subscription<actuator_controls_s> _actuators;
 
 	// local copy of data from i2c device
 	uint8_t _version;

src/drivers/roboclaw/RoboClaw.cpp

@@ -53,7 +53,7 @@
 #include <arch/board/board.h>
 #include <mavlink/mavlink_log.h>
 
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 

src/drivers/roboclaw/RoboClaw.hpp

@@ -45,7 +45,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -169,7 +169,7 @@ class RoboClaw
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	control::UOrbSubscription<actuator_controls_s> _actuators;
+	uORB::Subscription<actuator_controls_s> _actuators;
 
 	// private data
 	float _motor1Position;

src/modules/controllib/block/List.hpp → src/include/containers/List.hpp

@@ -32,9 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file Node.h
+ * @file List.hpp
  *
- * A node of a linked list.
+ * A linked list.
  */
 
 #pragma once
@@ -43,7 +43,7 @@ template<class T>
 class __EXPORT ListNode
 {
 public:
-	ListNode() : _sibling(NULL) {
+	ListNode() : _sibling(nullptr) {
 	}
 	void setSibling(T sibling) { _sibling = sibling; }
 	T getSibling() { return _sibling; }

src/modules/att_pos_estimator_ekf/KalmanNav.hpp

@@ -47,8 +47,8 @@
 #include <mathlib/mathlib.h>
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
-#include <controllib/uorb/UOrbSubscription.hpp>
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
 
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -138,13 +138,13 @@ class KalmanNav : public control::SuperBlock
 	math::Matrix<3,3> C_nb;             /**< direction cosine matrix from body to nav frame */
 	math::Quaternion q;         /**< quaternion from body to nav frame */
 	// subscriptions
-	control::UOrbSubscription<sensor_combined_s> _sensors;          /**< sensors sub. */
-	control::UOrbSubscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
-	control::UOrbSubscription<parameter_update_s> _param_update;    /**< parameter update sub. */
+	uORB::Subscription<sensor_combined_s> _sensors;          /**< sensors sub. */
+	uORB::Subscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
+	uORB::Subscription<parameter_update_s> _param_update;    /**< parameter update sub. */
 	// publications
-	control::UOrbPublication<vehicle_global_position_s> _pos;       /**< position pub. */
-	control::UOrbPublication<vehicle_local_position_s> _localPos;   /**< local position pub. */
-	control::UOrbPublication<vehicle_attitude_s> _att;              /**< attitude pub. */
+	uORB::Publication<vehicle_global_position_s> _pos;       /**< position pub. */
+	uORB::Publication<vehicle_local_position_s> _localPos;   /**< local position pub. */
+	uORB::Publication<vehicle_attitude_s> _att;              /**< attitude pub. */
 	// time stamps
 	uint64_t _pubTimeStamp;     /**< output data publication time stamp */
 	uint64_t _predictTimeStamp; /**< prediction time stamp */

src/modules/controllib/block/Block.cpp

@@ -41,10 +41,11 @@
 #include <string.h>
 #include <stdio.h>
 
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+
 #include "Block.hpp"
 #include "BlockParam.hpp"
-#include "../uorb/UOrbSubscription.hpp"
-#include "../uorb/UOrbPublication.hpp"
 
 namespace control
 {
@@ -100,7 +101,7 @@ void Block::updateParams()
 
 void Block::updateSubscriptions()
 {
-	UOrbSubscriptionBase *sub = getSubscriptions().getHead();
+	uORB::SubscriptionBase *sub = getSubscriptions().getHead();
 	int count = 0;
 
 	while (sub != NULL) {
@@ -118,7 +119,7 @@ void Block::updateSubscriptions()
 
 void Block::updatePublications()
 {
-	UOrbPublicationBase *pub = getPublications().getHead();
+	uORB::PublicationBase *pub = getPublications().getHead();
 	int count = 0;
 
 	while (pub != NULL) {

src/modules/controllib/block/Block.hpp

@@ -42,7 +42,13 @@
 #include <stdint.h>
 #include <inttypes.h>
 
-#include "List.hpp"
+#include <containers/List.hpp>
+
+// forward declaration
+namespace uORB {
+	class SubscriptionBase;
+	class PublicationBase;
+}
 
 namespace control
 {
@@ -55,8 +61,6 @@ static const uint8_t blockNameLengthMax = 80;
 
 // forward declaration
 class BlockParamBase;
-class UOrbSubscriptionBase;
-class UOrbPublicationBase;
 class SuperBlock;
 
 /**
@@ -79,15 +83,15 @@ class __EXPORT Block :
 protected:
 // accessors
 	SuperBlock *getParent() { return _parent; }
-	List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
-	List<UOrbPublicationBase *> & getPublications() { return _publications; }
+	List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; }
+	List<uORB::PublicationBase *> & getPublications() { return _publications; }
 	List<BlockParamBase *> & getParams() { return _params; }
 // attributes
 	const char *_name;
 	SuperBlock *_parent;
 	float _dt;
-	List<UOrbSubscriptionBase *> _subscriptions;
-	List<UOrbPublicationBase *> _publications;
+	List<uORB::SubscriptionBase *> _subscriptions;
+	List<uORB::PublicationBase *> _publications;
 	List<BlockParamBase *> _params;
 };
 

src/modules/controllib/block/BlockParam.cpp

@@ -76,4 +76,29 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
 		printf("error finding param: %s\n", fullname);
 };
 
+template <class T>
+BlockParam<T>::BlockParam(Block *block, const char *name,
+		bool parent_prefix) :
+	BlockParamBase(block, name, parent_prefix),
+	_val() {
+	update();
+}
+
+template <class T>
+T BlockParam<T>::get() { return _val; }
+
+template <class T>
+void BlockParam<T>::set(T val) { _val = val; }
+
+template <class T>
+void BlockParam<T>::update() {
+	if (_handle != PARAM_INVALID) param_get(_handle, &_val);
+}
+
+template <class T>
+BlockParam<T>::~BlockParam() {};
+
+template class __EXPORT BlockParam<float>;
+template class __EXPORT BlockParam<int>;
+
 } // namespace control

src/modules/controllib/block/BlockParam.hpp

@@ -42,7 +42,7 @@
 #include <systemlib/param/param.h>
 
 #include "Block.hpp"
-#include "List.hpp"
+#include <containers/List.hpp>
 
 namespace control
 {
@@ -70,38 +70,21 @@ class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
  * Parameters that are tied to blocks for updating and nameing.
  */
 
-class __EXPORT BlockParamFloat : public BlockParamBase
+template <class T>
+class BlockParam : public BlockParamBase
 {
 public:
-	BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) :
-		BlockParamBase(block, name, parent_prefix),
-		_val() {
-		update();
-	}
-	float get() { return _val; }
-	void set(float val) { _val = val; }
-	void update() {
-		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
-	}
+	BlockParam(Block *block, const char *name,
+			bool parent_prefix=true);
+	T get();
+	void set(T val);
+	void update();
+	virtual ~BlockParam();
 protected:
-	float _val;
+	T _val;
 };
 
-class __EXPORT BlockParamInt : public BlockParamBase
-{
-public:
-	BlockParamInt(Block *block, const char *name, bool parent_prefix=true) :
-		BlockParamBase(block, name, parent_prefix),
-		_val() {
-		update();
-	}
-	int get() { return _val; }
-	void set(int val) { _val = val; }
-	void update() {
-		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
-	}
-protected:
-	int _val;
-};
+typedef BlockParam<float> BlockParamFloat;
+typedef BlockParam<int> BlockParamInt;
 
 } // namespace control

src/modules/controllib/module.mk

@@ -37,7 +37,5 @@
 SRCS		 = test_params.c \
 		   block/Block.cpp \
 		   block/BlockParam.cpp \
-		   uorb/UOrbPublication.cpp \
-		   uorb/UOrbSubscription.cpp \
 		   uorb/blocks.cpp \
 		   blocks.cpp

src/modules/controllib/uorb/blocks.hpp

@@ -62,8 +62,8 @@ extern "C" {
 }
 
 #include "../blocks.hpp"
-#include "UOrbSubscription.hpp"
-#include "UOrbPublication.hpp"
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
 
 namespace control
 {
@@ -94,16 +94,16 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
 {
 protected:
 	// subscriptions
-	UOrbSubscription<vehicle_attitude_s> _att;
-	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
-	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
-	UOrbSubscription<vehicle_global_position_s> _pos;
-	UOrbSubscription<position_setpoint_triplet_s> _missionCmd;
-	UOrbSubscription<manual_control_setpoint_s> _manual;
-	UOrbSubscription<vehicle_status_s> _status;
-	UOrbSubscription<parameter_update_s> _param_update;
+	uORB::Subscription<vehicle_attitude_s> _att;
+	uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
+	uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
+	uORB::Subscription<vehicle_global_position_s> _pos;
+	uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
+	uORB::Subscription<manual_control_setpoint_s> _manual;
+	uORB::Subscription<vehicle_status_s> _status;
+	uORB::Subscription<parameter_update_s> _param_update;
 	// publications
-	UOrbPublication<actuator_controls_s> _actuators;
+	uORB::Publication<actuator_controls_s> _actuators;
 public:
 	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
 	virtual ~BlockUorbEnabledAutopilot();

src/modules/fixedwing_backside/fixedwing.cpp

@@ -175,14 +175,14 @@ void BlockMultiModeBacksideAutopilot::update()
 		// the min/max velocity
 		float v = _vLimit.update(sqrtf(
 					_pos.vel_n * _pos.vel_n +
-					_pos.vy * _pos.vy +
+					_pos.vel_e * _pos.vel_e +
 					_pos.vel_d * _pos.vel_d));
 
 		// limit velocity command between min/max velocity
 		float vCmd = _vLimit.update(_vCmd.get());
 
 		// altitude hold
-		float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt);
+		float dThrottle = _h2Thr.update(_missionCmd.current.alt - _pos.alt);
 
 		// heading hold
 		float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
@@ -237,7 +237,7 @@ void BlockMultiModeBacksideAutopilot::update()
 		// the min/max velocity
 		float v = _vLimit.update(sqrtf(
 					_pos.vel_n * _pos.vel_n +
-					_pos.vy * _pos.vy +
+					_pos.vel_e * _pos.vel_e +
 					_pos.vel_d * _pos.vel_d));
 
 		// pitch channel -> rate of climb