Rename module differential_drive_control -> differential_drive

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -5,7 +5,7 @@
 ekf2 start &
 
 # Start rover differential drive controller.
-differential_drive_control start
+differential_drive start
 
 # Start Land Detector.
 land_detector start rover

boards/px4/fmu-v5x/default.px4board

@@ -53,7 +53,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_DIFFERENTIAL_DRIVE_CONTROL=y
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y

boards/px4/sitl/default.px4board

@@ -12,7 +12,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_DIFFERENTIAL_DRIVE_CONTROL=y
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
 CONFIG_MODULES_EKF2=y
 CONFIG_EKF2_VERBOSE_STATUS=y
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y

src/modules/differential_drive/CMakeLists.txt

@@ -35,11 +35,11 @@ add_subdirectory(DifferentialDriveKinematics)
 add_subdirectory(DifferentialDriveGuidance)
 
 px4_add_module(
-	MODULE modules__differential_drive_control
+	MODULE modules__differential_drive
-	MAIN differential_drive_control
+	MAIN differential_drive
 	SRCS
-		DifferentialDriveControl.cpp
+		DifferentialDrive.cpp
-		DifferentialDriveControl.hpp
+		DifferentialDrive.hpp
 	DEPENDS
 		DifferentialDriveKinematics
 		DifferentialDriveGuidance

src/modules/differential_drive/DifferentialDrive.cpp

@@ -31,14 +31,12 @@
  *
  ****************************************************************************/
 
-#include "DifferentialDriveControl.hpp"
+#include "DifferentialDrive.hpp"
 
 using namespace time_literals;
 using namespace matrix;
-namespace differential_drive_control
-{
 
-DifferentialDriveControl::DifferentialDriveControl() :
+DifferentialDrive::DifferentialDrive() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
 {
@@ -47,13 +45,13 @@ DifferentialDriveControl::DifferentialDriveControl() :
 	pid_init(&_speed_pid, PID_MODE_DERIVATIV_NONE, 0.001f);
 }
 
-bool DifferentialDriveControl::init()
+bool DifferentialDrive::init()
 {
 	ScheduleOnInterval(10_ms); // 100 Hz
 	return true;
 }
 
-void DifferentialDriveControl::updateParams()
+void DifferentialDrive::updateParams()
 {
 	ModuleParams::updateParams();
 
@@ -81,7 +79,7 @@ void DifferentialDriveControl::updateParams()
 	_differential_guidance_controller.setMaxAngularVelocity(_max_angular_velocity);
 }
 
-void DifferentialDriveControl::Run()
+void DifferentialDrive::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
@@ -200,9 +198,9 @@ void DifferentialDriveControl::Run()
 	_actuator_motors_pub.publish(actuator_motors);
 }
 
-int DifferentialDriveControl::task_spawn(int argc, char *argv[])
+int DifferentialDrive::task_spawn(int argc, char *argv[])
 {
-	DifferentialDriveControl *instance = new DifferentialDriveControl();
+	DifferentialDrive *instance = new DifferentialDrive();
 
 	if (instance) {
 		_object.store(instance);
@@ -223,12 +221,12 @@ int DifferentialDriveControl::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-int DifferentialDriveControl::custom_command(int argc, char *argv[])
+int DifferentialDrive::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
 }
 
-int DifferentialDriveControl::print_usage(const char *reason)
+int DifferentialDrive::print_usage(const char *reason)
 {
 	if (reason) {
 		PX4_ERR("%s\n", reason);
@@ -240,15 +238,13 @@ int DifferentialDriveControl::print_usage(const char *reason)
 Rover Differential Drive controller.
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("differential_drive_control", "controller");
+	PRINT_MODULE_USAGE_NAME("differential_drive", "controller");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 	return 0;
 }
 
-extern "C" __EXPORT int differential_drive_control_main(int argc, char *argv[])
+extern "C" __EXPORT int differential_drive_main(int argc, char *argv[])
 {
-	return DifferentialDriveControl::main(argc, argv);
+	return DifferentialDrive::main(argc, argv);
 }
-
-} // namespace differential_drive_control

src/modules/differential_drive/DifferentialDrive.hpp

@@ -72,15 +72,12 @@ using namespace time_literals;
 
 static constexpr uint64_t kTimeoutUs = 5000_ms; // Maximal time in microseconds before a loop or data times out
 
-namespace differential_drive_control
+class DifferentialDrive : public ModuleBase<DifferentialDrive>, public ModuleParams,
-{
-
-class DifferentialDriveControl : public ModuleBase<DifferentialDriveControl>, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
-	DifferentialDriveControl();
+	DifferentialDrive();
-	~DifferentialDriveControl() override = default;
+	~DifferentialDrive() override = default;
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
@@ -150,5 +147,3 @@ private:
 		(ParamInt<px4::params::CA_R_REV>) _param_r_rev
 	)
 };
-
-} // namespace differential_drive_control

src/modules/differential_drive/DifferentialDriveKinematics/DifferentialDriveKinematics.cpp

@@ -65,4 +65,3 @@ matrix::Vector2f DifferentialDriveKinematics::computeInverseKinematics(float lin
 	return Vector2f(linear_velocity_x - rotational_velocity,
 			linear_velocity_x + rotational_velocity) / _max_speed;
 }
-

src/modules/differential_drive/Kconfig

@@ -1,5 +1,5 @@
-menuconfig MODULES_DIFFERENTIAL_DRIVE_CONTROL
+menuconfig MODULES_DIFFERENTIAL_DRIVE
-	bool "differential_drive_control"
+	bool "differential_drive"
 	default n
 	depends on MODULES_CONTROL_ALLOCATOR
 	---help---

src/modules/differential_drive/module.yaml

@@ -1,4 +1,4 @@
-module_name: Differential Drive Control
+module_name: Differential Drive
 
 parameters:
   - group: Rover Differential Drive
@@ -120,4 +120,3 @@ parameters:
         increment: 0.01
         decimal: 2
         default: 0.5
-