Naming consistency improved

src/lib/ecl/attitude_fw/ecl_pitch_controller.h

@@ -40,7 +40,7 @@
  * Acknowledgements:
  *
  *   The control design is based on a design
- *   by Paul Riseborough, 2013.
+ *   by Paul Riseborough and Andrew Tridgell, 2013.
  */
 
 #ifndef ECL_PITCH_CONTROLLER_H

src/lib/ecl/l1/ecl_l1_pos_controller.cpp

@@ -32,58 +32,58 @@
  ****************************************************************************/
 
 /**
- * @file ecl_l1_pos_control.h
+ * @file ecl_l1_pos_controller.h
  * Implementation of L1 position control.
  * Authors and acknowledgements in header.
  *
  */
 
-#include "ecl_l1_pos_control.h"
+#include "ecl_l1_pos_controller.h"
 
-float ECL_L1_Pos_Control::nav_roll()
+float ECL_L1_Pos_Controller::nav_roll()
 {
 	float ret = atanf(_lateral_accel * 1.0f / CONSTANTS_ONE_G);
 	ret = math::constrain(ret, (-M_PI_F) / 2.0f, M_PI_F / 2.0f);
 	return ret;
 }
 
-float ECL_L1_Pos_Control::nav_lateral_acceleration_demand()
+float ECL_L1_Pos_Controller::nav_lateral_acceleration_demand()
 {
 	return _lateral_accel;
 }
 
-float ECL_L1_Pos_Control::nav_bearing()
+float ECL_L1_Pos_Controller::nav_bearing()
 {
 	return _wrap_pi(_nav_bearing);
 }
 
-float ECL_L1_Pos_Control::bearing_error()
+float ECL_L1_Pos_Controller::bearing_error()
 {
 	return _bearing_error;
 }
 
-float ECL_L1_Pos_Control::target_bearing()
+float ECL_L1_Pos_Controller::target_bearing()
 {
 	return _target_bearing;
 }
 
-float ECL_L1_Pos_Control::switch_distance(float wp_radius)
+float ECL_L1_Pos_Controller::switch_distance(float wp_radius)
 {
 	/* following [2], switching on L1 distance */
 	return math::min(wp_radius, _L1_distance);
 }
 
-bool ECL_L1_Pos_Control::reached_loiter_target(void)
+bool ECL_L1_Pos_Controller::reached_loiter_target(void)
 {
 	return _circle_mode;
 }
 
-float ECL_L1_Pos_Control::crosstrack_error(void)
+float ECL_L1_Pos_Controller::crosstrack_error(void)
 {
 	return _crosstrack_error;
 }
 
-void ECL_L1_Pos_Control::navigate_waypoints(const math::Vector2f &vector_A, const math::Vector2f &vector_B, const math::Vector2f &vector_curr_position,
+void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, const math::Vector2f &vector_B, const math::Vector2f &vector_curr_position,
 				       const math::Vector2f &ground_speed_vector)
 {
 	/* this follows the logic presented in [1] */
@@ -175,7 +175,7 @@ void ECL_L1_Pos_Control::navigate_waypoints(const math::Vector2f &vector_A, cons
 	_bearing_error = eta;
 }
 
-void ECL_L1_Pos_Control::navigate_loiter(const math::Vector2f &vector_A, const math::Vector2f &vector_curr_position, float radius, int8_t loiter_direction,
+void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector2f &vector_A, const math::Vector2f &vector_curr_position, float radius, int8_t loiter_direction,
 				       const math::Vector2f &ground_speed_vector)
 {
 	/* the complete guidance logic in this section was proposed by [2] */
@@ -265,7 +265,7 @@ void ECL_L1_Pos_Control::navigate_loiter(const math::Vector2f &vector_A, const m
 }
 
 
-void ECL_L1_Pos_Control::navigate_heading(float navigation_heading, float current_heading, const math::Vector2f &ground_speed_vector)
+void ECL_L1_Pos_Controller::navigate_heading(float navigation_heading, float current_heading, const math::Vector2f &ground_speed_vector)
 {
 	/* the complete guidance logic in this section was proposed by [2] */
 
@@ -301,7 +301,7 @@ void ECL_L1_Pos_Control::navigate_heading(float navigation_heading, float curren
 	_lateral_accel = 2.0f * sinf(eta) * omega_vel;
 }
 
-void ECL_L1_Pos_Control::navigate_level_flight(float current_heading)
+void ECL_L1_Pos_Controller::navigate_level_flight(float current_heading)
 {
 	/* the logic in this section is trivial, but originally proposed by [2] */
 
@@ -318,7 +318,7 @@ void ECL_L1_Pos_Control::navigate_level_flight(float current_heading)
 }
 
 
-math::Vector2f ECL_L1_Pos_Control::get_local_planar_vector(const math::Vector2f &origin, const math::Vector2f &target) const
+math::Vector2f ECL_L1_Pos_Controller::get_local_planar_vector(const math::Vector2f &origin, const math::Vector2f &target) const
 {
 	/* this is an approximation for small angles, proposed by [2] */
 

src/lib/ecl/l1/ecl_l1_pos_controller.h

@@ -57,8 +57,8 @@
  *
  */
 
-#ifndef ECL_L1_POS_CONTROL_H
-#define ECL_L1_POS_CONTROL_H
+#ifndef ECL_L1_POS_CONTROLLER_H
+#define ECL_L1_POS_CONTROLLER_H
 
 #include <mathlib/mathlib.h>
 #include <geo/geo.h>
@@ -67,10 +67,10 @@
 /**
  * L1 Nonlinear Guidance Logic
  */
-class __EXPORT ECL_L1_Pos_Control
+class __EXPORT ECL_L1_Pos_Controller
 {
 public:
-	ECL_L1_Pos_Control() {
+	ECL_L1_Pos_Controller() {
 		_L1_period = 25;
 		_L1_damping = 0.75f;
 	}
@@ -246,4 +246,4 @@ private:
 };
 
 
-#endif /* ECL_L1_POS_CONTROL_H */
+#endif /* ECL_L1_POS_CONTROLLER_H */

src/lib/ecl/module.mk

@@ -38,4 +38,4 @@
 SRCS		 = 	attitude_fw/ecl_pitch_controller.cpp \
 			attitude_fw/ecl_roll_controller.cpp \
 			attitude_fw/ecl_yaw_controller.cpp \
-			l1/ecl_l1_pos_control.cpp
+			l1/ecl_l1_pos_controller.cpp

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -83,7 +83,7 @@
 #include <systemlib/systemlib.h>
 #include <mathlib/mathlib.h>
 
-#include <ecl/l1/ecl_l1_pos_control.h>
+#include <ecl/l1/ecl_l1_pos_controller.h>
 #include <external_lgpl/tecs/tecs.h>
 
 /**
@@ -163,7 +163,7 @@ private:
 	bool _global_pos_valid;				///< global position is valid
 	math::Dcm _R_nb;				///< current attitude
 
-	ECL_L1_Pos_Control				_l1_control;
+	ECL_L1_Pos_Controller				_l1_control;
 	TECS						_tecs;
 
 	struct {