############################################################################
#
#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################

px4_add_module(
	MODULE modules__control_allocator
	MAIN control_allocator
	COMPILE_FLAGS
		${MAX_CUSTOM_OPT_LEVEL}
	INCLUDES
		${CMAKE_CURRENT_SOURCE_DIR}
	SRCS
		ActuatorEffectiveness/ActuatorEffectiveness.hpp
		ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
		ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
		ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
		ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
		ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
		ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
		ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
		ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp

		ControlAllocation/ControlAllocation.cpp
		ControlAllocation/ControlAllocation.hpp
		ControlAllocation/ControlAllocationPseudoInverse.cpp
		ControlAllocation/ControlAllocationPseudoInverse.hpp
		ControlAllocation/ControlAllocationSequentialDesaturation.cpp
		ControlAllocation/ControlAllocationSequentialDesaturation.hpp

		ControlAllocator.cpp
		ControlAllocator.hpp
	DEPENDS
		mathlib
		px4_work_queue
	MODULE_CONFIG
		module.yaml
)

px4_add_library(ControlAllocation_testing
	ControlAllocation/ControlAllocation.cpp
	ControlAllocation/ControlAllocationPseudoInverse.cpp
)
target_link_libraries(ControlAllocation_testing PRIVATE mathlib)

px4_add_unit_gtest(SRC ControlAllocation/ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation_testing)
# px4_add_unit_gtest(SRC ActuatorEffectivenessMultirotorTest.cpp LINKLIBS ActuatorEffectiveness)
