From 82fd2987c9cad499bd9f071abd5ff945c219c428 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Thu, 13 Apr 2023 17:00:04 +0200 Subject: [PATCH] fw pos control: revert name until we delineate this module a bit more (#21442) --- ROMFS/px4fmu_common/init.d/rc.fw_apps | 2 +- ROMFS/px4fmu_common/init.d/rc.vtol_apps | 2 +- boards/airmind/mindpx-v2/default.px4board | 2 +- boards/ark/fmu-v6x/default.px4board | 2 +- boards/av/x-v1/default.px4board | 2 +- boards/beaglebone/blue/default.px4board | 2 +- boards/cuav/nora/default.px4board | 2 +- boards/cuav/x7pro/default.px4board | 2 +- boards/cubepilot/cubeorange/default.px4board | 2 +- boards/cubepilot/cubeorangeplus/default.px4board | 2 +- boards/cubepilot/cubeyellow/default.px4board | 2 +- boards/emlid/navio2/default.px4board | 2 +- boards/holybro/durandal-v1/default.px4board | 2 +- boards/holybro/kakuteh7/default.px4board | 2 +- boards/holybro/kakuteh7mini/default.px4board | 2 +- boards/holybro/kakuteh7v2/default.px4board | 2 +- boards/holybro/pix32v5/default.px4board | 2 +- boards/matek/h743-mini/default.px4board | 2 +- boards/matek/h743-slim/default.px4board | 2 +- boards/matek/h743/default.px4board | 2 +- boards/modalai/fc-v1/default.px4board | 2 +- boards/modalai/fc-v2/default.px4board | 2 +- boards/mro/ctrl-zero-classic/default.px4board | 2 +- boards/mro/ctrl-zero-f7-oem/default.px4board | 2 +- boards/mro/ctrl-zero-f7/default.px4board | 2 +- boards/mro/ctrl-zero-h7-oem/default.px4board | 2 +- boards/mro/ctrl-zero-h7/default.px4board | 2 +- boards/mro/pixracerpro/default.px4board | 2 +- boards/mro/x21-777/default.px4board | 2 +- boards/mro/x21/default.px4board | 2 +- boards/nxp/fmuk66-e/default.px4board | 2 +- boards/nxp/fmuk66-v3/default.px4board | 2 +- boards/nxp/mr-canhubk3/fmu.px4board | 2 +- boards/nxp/mr-canhubk3/sysview.px4board | 2 +- boards/px4/fmu-v2/fixedwing.px4board | 2 +- boards/px4/fmu-v3/default.px4board | 2 +- boards/px4/fmu-v4/default.px4board | 2 +- boards/px4/fmu-v4pro/default.px4board | 2 +- boards/px4/fmu-v5/default.px4board | 2 +- boards/px4/fmu-v5/protected.px4board | 2 +- boards/px4/fmu-v5x/default.px4board | 2 +- boards/px4/fmu-v6c/default.px4board | 2 +- boards/px4/fmu-v6u/default.px4board | 2 +- boards/px4/fmu-v6x/default.px4board | 2 +- boards/px4/raspberrypi/default.px4board | 2 +- boards/px4/sitl/default.px4board | 2 +- boards/scumaker/pilotpi/default.px4board | 2 +- boards/sky-drones/smartap-airlink/default.px4board | 2 +- boards/thepeach/k1/default.px4board | 2 +- boards/thepeach/r1/default.px4board | 2 +- posix-configs/SITL/init/test/test_shutdown | 6 +++--- posix-configs/bbblue/px4_fw.config | 2 +- posix-configs/rpi/pilotpi_fw.config | 2 +- posix-configs/rpi/px4_fw.config | 2 +- src/modules/fw_path_navigation/Kconfig | 12 ------------ .../CMakeLists.txt | 6 +++--- .../FixedwingPositionControl.cpp | 6 +++--- .../FixedwingPositionControl.hpp | 5 ++--- src/modules/fw_pos_control/Kconfig | 12 ++++++++++++ .../fw_path_navigation_params.c | 0 .../launchdetection/CMakeLists.txt | 0 .../launchdetection/LaunchDetector.cpp | 0 .../launchdetection/LaunchDetector.h | 0 .../launchdetection/launchdetection_params.c | 0 .../runway_takeoff/CMakeLists.txt | 0 .../runway_takeoff/RunwayTakeoff.cpp | 0 .../runway_takeoff/RunwayTakeoff.h | 0 .../runway_takeoff/runway_takeoff_params.c | 0 68 files changed, 76 insertions(+), 77 deletions(-) delete mode 100644 src/modules/fw_path_navigation/Kconfig rename src/modules/{fw_path_navigation => fw_pos_control}/CMakeLists.txt (96%) rename src/modules/{fw_path_navigation => fw_pos_control}/FixedwingPositionControl.cpp (99%) rename src/modules/{fw_path_navigation => fw_pos_control}/FixedwingPositionControl.hpp (99%) create mode 100644 src/modules/fw_pos_control/Kconfig rename src/modules/{fw_path_navigation => fw_pos_control}/fw_path_navigation_params.c (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/launchdetection/CMakeLists.txt (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/launchdetection/LaunchDetector.cpp (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/launchdetection/LaunchDetector.h (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/launchdetection/launchdetection_params.c (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/runway_takeoff/CMakeLists.txt (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/runway_takeoff/RunwayTakeoff.cpp (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/runway_takeoff/RunwayTakeoff.h (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/runway_takeoff/runway_takeoff_params.c (100%) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index 4da8b7b757..f3c559298e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -20,7 +20,7 @@ control_allocator start # fw_rate_control start fw_att_control start -fw_path_navigation start +fw_pos_control start airspeed_selector start # diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps index 3aab9459bc..fdc16af83d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps @@ -37,7 +37,7 @@ fi fw_rate_control start vtol fw_att_control start vtol -fw_path_navigation start vtol +fw_pos_control start vtol fw_autotune_attitude_control start vtol # Start Land Detector diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index a55b545338..a95ace0789 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board index 2ac125ba3a..10c555730a 100644 --- a/boards/ark/fmu-v6x/default.px4board +++ b/boards/ark/fmu-v6x/default.px4board @@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board index d3284223fd..9336bc7950 100644 --- a/boards/av/x-v1/default.px4board +++ b/boards/av/x-v1/default.px4board @@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index be5f802bbb..24fd8bcbea 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -31,7 +31,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index bd3172a283..7327364f6b 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index c6c4d4bdb9..07441e1289 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index 75714b6144..10dd9d44e8 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cubepilot/cubeorangeplus/default.px4board b/boards/cubepilot/cubeorangeplus/default.px4board index 59122cf760..85574a88e8 100644 --- a/boards/cubepilot/cubeorangeplus/default.px4board +++ b/boards/cubepilot/cubeorangeplus/default.px4board @@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board index 726c297365..45cf93a38d 100644 --- a/boards/cubepilot/cubeyellow/default.px4board +++ b/boards/cubepilot/cubeyellow/default.px4board @@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index 0773fe9f88..b71e01bb67 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -33,7 +33,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index 654787e28b..60da95de9f 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index 5004769ffe..3a4f43394b 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/kakuteh7mini/default.px4board b/boards/holybro/kakuteh7mini/default.px4board index 36240ff734..c21baa48dd 100644 --- a/boards/holybro/kakuteh7mini/default.px4board +++ b/boards/holybro/kakuteh7mini/default.px4board @@ -37,7 +37,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/kakuteh7v2/default.px4board b/boards/holybro/kakuteh7v2/default.px4board index d5f04d1085..9eb7a9d1c7 100644 --- a/boards/holybro/kakuteh7v2/default.px4board +++ b/boards/holybro/kakuteh7v2/default.px4board @@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board index 53431aa9ff..45bd43ee4f 100644 --- a/boards/holybro/pix32v5/default.px4board +++ b/boards/holybro/pix32v5/default.px4board @@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/matek/h743-mini/default.px4board b/boards/matek/h743-mini/default.px4board index d7220fee71..74c0bbedd8 100644 --- a/boards/matek/h743-mini/default.px4board +++ b/boards/matek/h743-mini/default.px4board @@ -29,7 +29,7 @@ CONFIG_MODULES_EKF2=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board index 491c3e3846..434dd951e9 100644 --- a/boards/matek/h743-slim/default.px4board +++ b/boards/matek/h743-slim/default.px4board @@ -30,7 +30,7 @@ CONFIG_MODULES_EKF2=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/matek/h743/default.px4board b/boards/matek/h743/default.px4board index 82b5cff455..00f19d7b60 100644 --- a/boards/matek/h743/default.px4board +++ b/boards/matek/h743/default.px4board @@ -31,7 +31,7 @@ CONFIG_MODULES_EKF2=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index 5f0d51c598..49407d1fe9 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index abd1648d34..ef805e2029 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board index 59b9783d70..41e4e1d80c 100644 --- a/boards/mro/ctrl-zero-classic/default.px4board +++ b/boards/mro/ctrl-zero-classic/default.px4board @@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board index 4f958f4c33..b0701855bf 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.px4board +++ b/boards/mro/ctrl-zero-f7-oem/default.px4board @@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board index 53f767882b..074a4f2ca0 100644 --- a/boards/mro/ctrl-zero-f7/default.px4board +++ b/boards/mro/ctrl-zero-f7/default.px4board @@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index bc6afa3a00..082020d677 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -41,7 +41,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index 5a58633109..440e5136b3 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index 3c6d0c249b..189e4039f1 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -41,7 +41,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index b553fadd30..5a51a776dd 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board index 51bd2070bd..7c20626001 100644 --- a/boards/mro/x21/default.px4board +++ b/boards/mro/x21/default.px4board @@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index 53ed5271ae..9fbf2c4158 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index 65bd96098e..b6caac97b5 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/nxp/mr-canhubk3/fmu.px4board b/boards/nxp/mr-canhubk3/fmu.px4board index e8f3d264cc..c85a77330d 100644 --- a/boards/nxp/mr-canhubk3/fmu.px4board +++ b/boards/nxp/mr-canhubk3/fmu.px4board @@ -22,7 +22,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/nxp/mr-canhubk3/sysview.px4board b/boards/nxp/mr-canhubk3/sysview.px4board index feafdf2b9a..d190234fcb 100644 --- a/boards/nxp/mr-canhubk3/sysview.px4board +++ b/boards/nxp/mr-canhubk3/sysview.px4board @@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/px4/fmu-v2/fixedwing.px4board b/boards/px4/fmu-v2/fixedwing.px4board index 39b641ce61..0bde0c7e07 100644 --- a/boards/px4/fmu-v2/fixedwing.px4board +++ b/boards/px4/fmu-v2/fixedwing.px4board @@ -8,5 +8,5 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index aaf1dc2c25..0be2afd890 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index f77760fc78..6f0749c353 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index 18e1933c81..3a45e28eb0 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index 2e160e1f07..72845b8a71 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -54,7 +54,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v5/protected.px4board b/boards/px4/fmu-v5/protected.px4board index 147c729b11..de913d6ac8 100644 --- a/boards/px4/fmu-v5/protected.px4board +++ b/boards/px4/fmu-v5/protected.px4board @@ -17,7 +17,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n CONFIG_MODULES_ESC_BATTERY=n CONFIG_MODULES_FW_ATT_CONTROL=n CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n -CONFIG_MODULES_FW_PATH_NAVIGATION=n +CONFIG_MODULES_FW_POS_CONTROL=n CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index 61c6e38fdd..066fb52e1e 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -58,7 +58,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board index a6f041bf18..edc81666ed 100644 --- a/boards/px4/fmu-v6c/default.px4board +++ b/boards/px4/fmu-v6c/default.px4board @@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index bb6f599f49..e63885a326 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index 77972de484..21ed79d141 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -51,7 +51,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index 1f93c77beb..3e059cffe7 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board index f85f30f424..5d14406816 100644 --- a/boards/px4/sitl/default.px4board +++ b/boards/px4/sitl/default.px4board @@ -17,7 +17,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index ca284cc29e..52b20aaa01 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board index d161d6184d..552d998974 100644 --- a/boards/sky-drones/smartap-airlink/default.px4board +++ b/boards/sky-drones/smartap-airlink/default.px4board @@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/thepeach/k1/default.px4board b/boards/thepeach/k1/default.px4board index 3ad12d0f15..b2c6588f98 100644 --- a/boards/thepeach/k1/default.px4board +++ b/boards/thepeach/k1/default.px4board @@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/thepeach/r1/default.px4board b/boards/thepeach/r1/default.px4board index 3ad12d0f15..b2c6588f98 100644 --- a/boards/thepeach/r1/default.px4board +++ b/boards/thepeach/r1/default.px4board @@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/posix-configs/SITL/init/test/test_shutdown b/posix-configs/SITL/init/test/test_shutdown index 6e60496776..b452595732 100644 --- a/posix-configs/SITL/init/test/test_shutdown +++ b/posix-configs/SITL/init/test/test_shutdown @@ -29,7 +29,7 @@ flight_mode_manager start mc_pos_control start vtol mc_att_control start vtol mc_rate_control start vtol -fw_path_navigation start vtol +fw_pos_control start vtol fw_att_control start vtol airspeed_selector start @@ -59,7 +59,7 @@ flight_mode_manager status mc_pos_control status mc_att_control status mc_rate_control status -fw_path_navigation status +fw_pos_control status fw_att_control status airspeed_selector status dataman status @@ -74,7 +74,7 @@ mc_att_control stop fw_att_control stop flight_mode_manager stop mc_pos_control stop -fw_path_navigation stop +fw_pos_control stop navigator stop commander stop land_detector stop diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config index 0a71683c61..d6ba875fde 100644 --- a/posix-configs/bbblue/px4_fw.config +++ b/posix-configs/bbblue/px4_fw.config @@ -56,7 +56,7 @@ ekf2 start land_detector start fixedwing fw_att_control start -fw_path_navigation start +fw_pos_control start mavlink start -n SoftAp -x -u 14556 -r 1000000 -p # -n name of wifi interface: SoftAp, wlan or your custom interface, diff --git a/posix-configs/rpi/pilotpi_fw.config b/posix-configs/rpi/pilotpi_fw.config index 1ee5e61939..a4fdf0f6fd 100644 --- a/posix-configs/rpi/pilotpi_fw.config +++ b/posix-configs/rpi/pilotpi_fw.config @@ -63,7 +63,7 @@ airspeed_selector start land_detector start fixedwing flight_mode_manager start fw_att_control start -fw_path_navigation start +fw_pos_control start mavlink start -x -u 14556 -r 1000000 -p diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config index 468ff8a9d9..55d8d9cfd9 100644 --- a/posix-configs/rpi/px4_fw.config +++ b/posix-configs/rpi/px4_fw.config @@ -41,7 +41,7 @@ navigator start ekf2 start land_detector start fixedwing fw_att_control start -fw_path_navigation start +fw_pos_control start mavlink start -x -u 14556 -r 1000000 -p diff --git a/src/modules/fw_path_navigation/Kconfig b/src/modules/fw_path_navigation/Kconfig deleted file mode 100644 index 7a7fbde149..0000000000 --- a/src/modules/fw_path_navigation/Kconfig +++ /dev/null @@ -1,12 +0,0 @@ -menuconfig MODULES_FW_PATH_NAVIGATION - bool "fw_path_navigation" - default n - ---help--- - Enable support for fw_path_navigation - -menuconfig USER_FW_PATH_NAVIGATION - bool "fw_path_navigation running as userspace module" - default n - depends on BOARD_PROTECTED && MODULES_FW_PATH_NAVIGATION - ---help--- - Put fw_path_navigation in userspace memory diff --git a/src/modules/fw_path_navigation/CMakeLists.txt b/src/modules/fw_pos_control/CMakeLists.txt similarity index 96% rename from src/modules/fw_path_navigation/CMakeLists.txt rename to src/modules/fw_pos_control/CMakeLists.txt index c42df6ca98..4e63f0b564 100644 --- a/src/modules/fw_path_navigation/CMakeLists.txt +++ b/src/modules/fw_pos_control/CMakeLists.txt @@ -35,14 +35,14 @@ add_subdirectory(launchdetection) add_subdirectory(runway_takeoff) px4_add_module( - MODULE modules__fw_path_navigation - MAIN fw_path_navigation + MODULE modules__fw_pos_control + MAIN fw_pos_control SRCS FixedwingPositionControl.cpp FixedwingPositionControl.hpp DEPENDS launchdetection - npfg + npfg runway_takeoff SlewRate tecs diff --git a/src/modules/fw_path_navigation/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp similarity index 99% rename from src/modules/fw_path_navigation/FixedwingPositionControl.cpp rename to src/modules/fw_pos_control/FixedwingPositionControl.cpp index 134366bc77..82190680c5 100644 --- a/src/modules/fw_path_navigation/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -2980,11 +2980,11 @@ int FixedwingPositionControl::print_usage(const char *reason) PRINT_MODULE_DESCRIPTION( R"DESCR_STR( ### Description -fw_path_navigation is the fixed wing path navigation. +fw_pos_control is the fixed-wing position controller. )DESCR_STR"); - PRINT_MODULE_USAGE_NAME("fw_path_navigation", "controller"); + PRINT_MODULE_USAGE_NAME("fw_pos_control", "controller"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_ARG("vtol", "VTOL mode", true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); @@ -2992,7 +2992,7 @@ fw_path_navigation is the fixed wing path navigation. return 0; } -extern "C" __EXPORT int fw_path_navigation_main(int argc, char *argv[]) +extern "C" __EXPORT int fw_pos_control_main(int argc, char *argv[]) { return FixedwingPositionControl::main(argc, argv); } diff --git a/src/modules/fw_path_navigation/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp similarity index 99% rename from src/modules/fw_path_navigation/FixedwingPositionControl.hpp rename to src/modules/fw_pos_control/FixedwingPositionControl.hpp index c67e1a5d06..fe4e6aa580 100644 --- a/src/modules/fw_path_navigation/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp @@ -33,9 +33,8 @@ /** - * @file fw_path_navigation_main.hpp - * Implementation of a generic path navigation. Outputs a bank / roll - * angle, equivalent to a lateral motion (for copters and rovers). + * @file fw_pos_control_main.hpp + * Implementation of various fixed-wing position level navigation/control modes. * * The implementation for the controllers is in a separate library. This class only * interfaces to the library. diff --git a/src/modules/fw_pos_control/Kconfig b/src/modules/fw_pos_control/Kconfig new file mode 100644 index 0000000000..be700fb191 --- /dev/null +++ b/src/modules/fw_pos_control/Kconfig @@ -0,0 +1,12 @@ +menuconfig MODULES_FW_POS_CONTROL + bool "fw_pos_control" + default n + ---help--- + Enable support for fw_pos_control + +menuconfig USER_FW_POS_CONTROL + bool "fw_pos_control running as userspace module" + default n + depends on BOARD_PROTECTED && MODULES_FW_POS_CONTROL + ---help--- + Put fw_pos_control in userspace memory diff --git a/src/modules/fw_path_navigation/fw_path_navigation_params.c b/src/modules/fw_pos_control/fw_path_navigation_params.c similarity index 100% rename from src/modules/fw_path_navigation/fw_path_navigation_params.c rename to src/modules/fw_pos_control/fw_path_navigation_params.c diff --git a/src/modules/fw_path_navigation/launchdetection/CMakeLists.txt b/src/modules/fw_pos_control/launchdetection/CMakeLists.txt similarity index 100% rename from src/modules/fw_path_navigation/launchdetection/CMakeLists.txt rename to src/modules/fw_pos_control/launchdetection/CMakeLists.txt diff --git a/src/modules/fw_path_navigation/launchdetection/LaunchDetector.cpp b/src/modules/fw_pos_control/launchdetection/LaunchDetector.cpp similarity index 100% rename from src/modules/fw_path_navigation/launchdetection/LaunchDetector.cpp rename to src/modules/fw_pos_control/launchdetection/LaunchDetector.cpp diff --git a/src/modules/fw_path_navigation/launchdetection/LaunchDetector.h b/src/modules/fw_pos_control/launchdetection/LaunchDetector.h similarity index 100% rename from src/modules/fw_path_navigation/launchdetection/LaunchDetector.h rename to src/modules/fw_pos_control/launchdetection/LaunchDetector.h diff --git a/src/modules/fw_path_navigation/launchdetection/launchdetection_params.c b/src/modules/fw_pos_control/launchdetection/launchdetection_params.c similarity index 100% rename from src/modules/fw_path_navigation/launchdetection/launchdetection_params.c rename to src/modules/fw_pos_control/launchdetection/launchdetection_params.c diff --git a/src/modules/fw_path_navigation/runway_takeoff/CMakeLists.txt b/src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt similarity index 100% rename from src/modules/fw_path_navigation/runway_takeoff/CMakeLists.txt rename to src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt diff --git a/src/modules/fw_path_navigation/runway_takeoff/RunwayTakeoff.cpp b/src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp similarity index 100% rename from src/modules/fw_path_navigation/runway_takeoff/RunwayTakeoff.cpp rename to src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp diff --git a/src/modules/fw_path_navigation/runway_takeoff/RunwayTakeoff.h b/src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.h similarity index 100% rename from src/modules/fw_path_navigation/runway_takeoff/RunwayTakeoff.h rename to src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.h diff --git a/src/modules/fw_path_navigation/runway_takeoff/runway_takeoff_params.c b/src/modules/fw_pos_control/runway_takeoff/runway_takeoff_params.c similarity index 100% rename from src/modules/fw_path_navigation/runway_takeoff/runway_takeoff_params.c rename to src/modules/fw_pos_control/runway_takeoff/runway_takeoff_params.c