move attitude controllers to new wq:attitude_ctrl

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -176,7 +176,7 @@ private:
 
 AirspeedModule::AirspeedModule():
 	ModuleParams(nullptr),
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
 {
 	// initialise parameters
 	update_params();

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -166,7 +166,7 @@ private:
 
 AttitudeEstimatorQ::AttitudeEstimatorQ() :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
+	WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
 {
 	_vel_prev.zero();
 	_pos_acc.zero();

src/modules/ekf2/ekf2_main.cpp

@@ -542,7 +542,7 @@ private:
 
 Ekf2::Ekf2(bool replay_mode):
 	ModuleParams(nullptr),
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
 	_replay_mode(replay_mode),
 	_ekf_update_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": update")),
 	_params(_ekf.getParamHandle()),

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -42,7 +42,7 @@ using math::radians;
 
 FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::attitude_ctrl),
 	_actuators_0_pub(vtol ? ORB_ID(actuator_controls_virtual_fw) : ORB_ID(actuator_controls_0)),
 	_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -37,7 +37,7 @@
 
 FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
 	_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_launchDetector(this),

src/modules/land_detector/LandDetector.cpp

@@ -47,7 +47,7 @@ namespace land_detector
 
 LandDetector::LandDetector() :
 	ModuleParams(nullptr),
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
 {}
 
 LandDetector::~LandDetector()

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -19,7 +19,7 @@ static const char *msg_label = "[lpe] ";	// rate of land detector correction
 
 BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
 
 	// this block has no parent, and has name LPE
 	SuperBlock(nullptr, "LPE"),

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -53,7 +53,7 @@ using namespace matrix;
 
 MulticopterAttitudeControl::MulticopterAttitudeControl(bool vtol) :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::attitude_ctrl),
 	_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -284,7 +284,7 @@ private:
 MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
 	SuperBlock(nullptr, "MPC"),
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
 	_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
 	_vel_x_deriv(this, "VELD"),
 	_vel_y_deriv(this, "VELD"),

src/modules/sensors/sensors.cpp

@@ -199,7 +199,7 @@ private:
 
 Sensors::Sensors(bool hil_enabled) :
 	ModuleParams(nullptr),
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
 	_hil_enabled(hil_enabled),
 	_loop_perf(perf_alloc(PC_ELAPSED, "sensors")),
 	_voted_sensors_update(_parameters, hil_enabled)

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

@@ -43,7 +43,7 @@ namespace sensors
 
 VehicleAcceleration::VehicleAcceleration() :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
 	_corrections(this, SensorCorrections::SensorType::Accelerometer)
 {
 	_lp_filter.set_cutoff_frequency(kInitialRateHz, _param_imu_accel_cutoff.get());

src/modules/sensors/vehicle_air_data/VehicleAirData.cpp

@@ -43,7 +43,7 @@ static constexpr uint32_t SENSOR_TIMEOUT{300_ms};
 
 VehicleAirData::VehicleAirData() :
 	ModuleParams(nullptr),
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
 {
 	_voter.set_timeout(SENSOR_TIMEOUT);
 }

src/modules/sensors/vehicle_imu/VehicleIMU.cpp

@@ -43,7 +43,7 @@ namespace sensors
 
 VehicleIMU::VehicleIMU(uint8_t accel_index, uint8_t gyro_index) :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
 	_sensor_accel_integrated_sub(this, ORB_ID(sensor_accel_integrated), accel_index),
 	_sensor_gyro_integrated_sub(this, ORB_ID(sensor_gyro_integrated), gyro_index),
 	_accel_corrections(this, SensorCorrections::SensorType::Accelerometer),