Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
in copter if you try to set RATE_RLL_D to 0 when you haven't
prevviously changed it then it would set it, but would revert on the
next reboot. This is because of the special case handling of a set to
the "default" value. That default value is unaware of the PID
constructors
this fixes that behaviour by forcing a save if the parameter changes
value
Caio Marcelo de Oliveira Filho
Gustavo Jose de Sousa
Randy Mackay
Andrew Tridgell
Tom Pittenger
Daniel Nugent
Siddharth Bharat Purohit
Jonathan Challinger
squilter
Brad Bosch
Lucas De Marchi
Arthur Benemann