From 37b8ed88c4ab4cddf05d63eca03f81efedd59136 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Tue, 20 May 2025 11:43:53 +0200
Subject: [PATCH] Rename AirspeedReferenceController to
 AirspeedDirectionController

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 ...ontroller.cpp => AirspeedDirectionController.cpp} |  6 +++---
 ...ontroller.hpp => AirspeedDirectionController.hpp} | 12 ++++++------
 src/lib/npfg/CMakeLists.txt                          |  4 ++--
 .../FwLateralLongitudinalControl.cpp                 |  2 +-
 .../FwLateralLongitudinalControl.hpp                 |  4 ++--
 5 files changed, 14 insertions(+), 14 deletions(-)
 rename src/lib/npfg/{AirspeedReferenceController.cpp => AirspeedDirectionController.cpp} (94%)
 rename src/lib/npfg/{AirspeedReferenceController.hpp => AirspeedDirectionController.hpp} (92%)

diff --git a/src/lib/npfg/AirspeedReferenceController.cpp b/src/lib/npfg/AirspeedDirectionController.cpp
similarity index 94%
rename from src/lib/npfg/AirspeedReferenceController.cpp
rename to src/lib/npfg/AirspeedDirectionController.cpp
index 5ab275f844..621587f47e 100644
--- a/src/lib/npfg/AirspeedReferenceController.cpp
+++ b/src/lib/npfg/AirspeedDirectionController.cpp
@@ -31,17 +31,17 @@
  *
  ****************************************************************************/
 
-#include "AirspeedReferenceController.hpp"
+#include "AirspeedDirectionController.hpp"
 #include <matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>
 
 using matrix::Vector2f;
-AirspeedReferenceController::AirspeedReferenceController()
+AirspeedDirectionController::AirspeedDirectionController()
 {
 	// Constructor
 }
 
-float AirspeedReferenceController::controlHeading(const float heading_sp, const float heading,
+float AirspeedDirectionController::controlHeading(const float heading_sp, const float heading,
 		const float airspeed) const
 {
 
diff --git a/src/lib/npfg/AirspeedReferenceController.hpp b/src/lib/npfg/AirspeedDirectionController.hpp
similarity index 92%
rename from src/lib/npfg/AirspeedReferenceController.hpp
rename to src/lib/npfg/AirspeedDirectionController.hpp
index 57610363f8..d0111729ca 100644
--- a/src/lib/npfg/AirspeedReferenceController.hpp
+++ b/src/lib/npfg/AirspeedDirectionController.hpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /*
- * @file AirspeedRefController.hpp
+ * @file AirspeedDirectionController.hpp
  *
  * Original Author:  Thomas Stastny <tstastny@ethz.ch>
  * Refactored to better suite new control API: Roman Bapst <roman@auterion.com>
@@ -56,14 +56,14 @@
  *     https://tstastny.github.io/pdf/tstastny_phd_thesis_wcover.pdf
  */
 
-#ifndef PX4_AIRSPEEDREFERENCECONTROLLER_HPP
-#define PX4_AIRSPEEDREFERENCECONTROLLER_HPP
+#ifndef PX4_AIRSPEEDDIRECTIONONTROLLER_HPP
+#define PX4_AIRSPEEDDIRECTIONONTROLLER_HPP
 
-class AirspeedReferenceController
+class AirspeedDirectionController
 {
 public:
 
-	AirspeedReferenceController();
+	AirspeedDirectionController();
 
 
 	float controlHeading(const float heading_sp, const float heading, const float airspeed) const;
@@ -72,4 +72,4 @@ private:
 	float p_gain_{0.8885f}; // proportional gain (computed from period_ and damping_) [rad/s]
 };
 
-#endif //PX4_AIRSPEEDREFERENCECONTROLLER_HPP
+#endif //PX4_AIRSPEEDDIRECTIONONTROLLER_HPP
diff --git a/src/lib/npfg/CMakeLists.txt b/src/lib/npfg/CMakeLists.txt
index de489b18c8..6e34a9a590 100644
--- a/src/lib/npfg/CMakeLists.txt
+++ b/src/lib/npfg/CMakeLists.txt
@@ -34,10 +34,10 @@
 px4_add_library(npfg
 	DirectionalGuidance.cpp
 	CourseToAirspeedRefMapper.cpp
-	AirspeedReferenceController.cpp
+	AirspeedDirectionController.cpp
 	DirectionalGuidance.hpp
 	CourseToAirspeedRefMapper.hpp
-	AirspeedReferenceController.hpp
+	AirspeedDirectionController.hpp
 )
 
 target_link_libraries(npfg PRIVATE geo)
diff --git a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
index bce9f535f5..953795b2f3 100644
--- a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+++ b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
@@ -262,7 +262,7 @@ void FwLateralLongitudinalControl::Run()
 
 			if (PX4_ISFINITE(airspeed_direction_sp)) {
 				const float heading = atan2f(airspeed_vector(1), airspeed_vector(0));
-				lateral_accel_sp = _airspeed_ref_control.controlHeading(airspeed_direction_sp, heading,
+				lateral_accel_sp = _airspeed_direction_control.controlHeading(airspeed_direction_sp, heading,
 						   airspeed_vector.norm());
 			}
 
diff --git a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
index 80b79b9224..91784cffc3 100644
--- a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
+++ b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
@@ -45,7 +45,7 @@
 #include <lib/geo/geo.h>
 #include <lib/atmosphere/atmosphere.h>
 #include <lib/npfg/CourseToAirspeedRefMapper.hpp>
-#include <lib/npfg/AirspeedReferenceController.hpp>
+#include <lib/npfg/AirspeedDirectionController.hpp>
 #include <lib/tecs/TECS.hpp>
 #include <lib/mathlib/mathlib.h>
 #include <lib/perf/perf_counter.h>
@@ -206,7 +206,7 @@ private:
 	PerformanceModel _performance_model;
 	TECS _tecs;
 	CourseToAirspeedRefMapper _course_to_airspeed;
-	AirspeedReferenceController _airspeed_ref_control;
+	AirspeedDirectionController _airspeed_direction_control;
 
 	float _min_airspeed_from_guidance{0.f}; // need to store it bc we only update after running longitudinal controller