From 7b61c927f0420cb3b519972221654176e7c9274b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 19 Apr 2014 16:13:13 +0200 Subject: [PATCH] Renamed FW filter to EKF to express its generic properties, switched multicopters over to this filter for first tests. --- ROMFS/px4fmu_common/init.d/rc.fw_apps | 2 +- ROMFS/px4fmu_common/init.d/rc.mc_apps | 3 ++- makefiles/config_px4fmu-v1_default.mk | 2 +- makefiles/config_px4fmu-v2_default.mk | 2 +- .../estimator.cpp | 0 .../estimator.h | 0 .../fw_att_pos_estimator_main.cpp | 6 +++--- .../fw_att_pos_estimator_params.c | 0 .../module.mk | 2 +- 9 files changed, 9 insertions(+), 8 deletions(-) rename src/modules/{fw_att_pos_estimator => ekf_att_pos_estimator}/estimator.cpp (100%) rename src/modules/{fw_att_pos_estimator => ekf_att_pos_estimator}/estimator.h (100%) rename src/modules/{fw_att_pos_estimator => ekf_att_pos_estimator}/fw_att_pos_estimator_main.cpp (99%) rename src/modules/{fw_att_pos_estimator => ekf_att_pos_estimator}/fw_att_pos_estimator_params.c (100%) rename src/modules/{fw_att_pos_estimator => ekf_att_pos_estimator}/module.mk (97%) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index 429abc5ec8..9aca3fc5f4 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -6,7 +6,7 @@ # # Start the attitude and position estimator # -fw_att_pos_estimator start +ekf_att_pos_estimator start # # Start attitude controller diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index ed3939757a..c75281fcdd 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -5,7 +5,8 @@ # attitude_estimator_ekf start -position_estimator_inav start +ekf_att_pos_estimator start +#position_estimator_inav start mc_att_control start mc_pos_control start diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 532e978d04..1daf8277ea 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -70,7 +70,7 @@ MODULES += modules/gpio_led # Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf -MODULES += modules/fw_att_pos_estimator +MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav #MODULES += examples/flow_position_estimator diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index e13421acc5..7f0c59515a 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -79,7 +79,7 @@ MODULES += modules/gpio_led # MODULES += modules/attitude_estimator_ekf MODULES += modules/attitude_estimator_so3 -MODULES += modules/fw_att_pos_estimator +MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp similarity index 100% rename from src/modules/fw_att_pos_estimator/estimator.cpp rename to src/modules/ekf_att_pos_estimator/estimator.cpp diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/ekf_att_pos_estimator/estimator.h similarity index 100% rename from src/modules/fw_att_pos_estimator/estimator.h rename to src/modules/ekf_att_pos_estimator/estimator.h diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp similarity index 99% rename from src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp rename to src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp index 96db3f20cc..7857a04693 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -90,7 +90,7 @@ * * @ingroup apps */ -extern "C" __EXPORT int fw_att_pos_estimator_main(int argc, char *argv[]); +extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]); __EXPORT uint32_t millis(); @@ -1255,10 +1255,10 @@ int FixedwingEstimator::trip_nan() { return ret; } -int fw_att_pos_estimator_main(int argc, char *argv[]) +int ekf_att_pos_estimator_main(int argc, char *argv[]) { if (argc < 1) - errx(1, "usage: fw_att_pos_estimator {start|stop|status}"); + errx(1, "usage: ekf_att_pos_estimator {start|stop|status}"); if (!strcmp(argv[1], "start")) { diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c similarity index 100% rename from src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c rename to src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c diff --git a/src/modules/fw_att_pos_estimator/module.mk b/src/modules/ekf_att_pos_estimator/module.mk similarity index 97% rename from src/modules/fw_att_pos_estimator/module.mk rename to src/modules/ekf_att_pos_estimator/module.mk index c992959e0d..30955d0ddc 100644 --- a/src/modules/fw_att_pos_estimator/module.mk +++ b/src/modules/ekf_att_pos_estimator/module.mk @@ -35,7 +35,7 @@ # Main Attitude and Position Estimator for Fixed Wing Aircraft # -MODULE_COMMAND = fw_att_pos_estimator +MODULE_COMMAND = ekf_att_pos_estimator SRCS = fw_att_pos_estimator_main.cpp \ fw_att_pos_estimator_params.c \