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rename FWPositionController to FWModeManager

Browse Source 
Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan 2025-04-05 14:09:51 +02:00 committed by Silvan Fuhrer
parent 259e7d1d53
commit 8c1f7ec7c0
103 changed files with 197 additions and 187 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ROMFS/px4fmu_common/init.d/rc.fw_apps
View File

@ -15,7 +15,7 @@ control_allocator start
#
fw_rate_control start
fw_att_control start
fw_pos_control start
fw_mode_manager start
fw_lat_lon_control start
airspeed_selector start

2
ROMFS/px4fmu_common/init.d/rc.vtol_apps
View File

@ -27,7 +27,7 @@ fi
fw_rate_control start vtol
fw_att_control start vtol
fw_pos_control start
fw_mode_manager start
fw_lat_lon_control start vtol
fw_autotune_attitude_control start vtol

2
boards/3dr/ctrl-zero-h7-oem-revg/default.px4board
View File

@ -41,7 +41,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/airmind/mindpx-v2/default.px4board
View File

@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/ark/fmu-v6x/default.px4board
View File

@ -56,7 +56,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/ark/fpv/default.px4board
View File

@ -37,7 +37,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

3
boards/auterion/fmu-v6s/default.px4board
View File

@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_FIGURE_OF_EIGHT=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

3
boards/auterion/fmu-v6s/multicopter.px4board
View File

@ -3,7 +3,8 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_COMMON_RC=y

3
boards/auterion/fmu-v6s/rover.px4board
View File

@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
CONFIG_MODULES_MC_ATT_CONTROL=n

2
boards/av/x-v1/default.px4board
View File

@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/beaglebone/blue/default.px4board
View File

@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

3
boards/bluerobotics/navigator/default.px4board
View File

@ -49,7 +49,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MC_ATT_CONTROL=y

3
boards/corvon/743v1/default.px4board
View File

@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y

2
boards/cuav/7-nano/default.px4board
View File

@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/cuav/nora/default.px4board
View File

@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/cuav/x7pro/default.px4board
View File

@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/cubepilot/cubeorange/default.px4board
View File

@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/cubepilot/cubeorangeplus/default.px4board
View File

@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/cubepilot/cubeyellow/default.px4board
View File

@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/emlid/navio2/default.px4board
View File

@ -32,7 +32,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/hkust/nxt-dual/default.px4board
View File

@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/hkust/nxt-v1/default.px4board
View File

@ -41,7 +41,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/holybro/durandal-v1/default.px4board
View File

@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

3
boards/holybro/kakuteh7-wing/default.px4board
View File

@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/holybro/kakuteh7/default.px4board
View File

@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

3
boards/holybro/kakuteh7dualimu/default.px4board
View File

@ -48,7 +48,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/holybro/kakuteh7mini/default.px4board
View File

@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/holybro/kakuteh7v2/default.px4board
View File

@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/holybro/pix32v5/default.px4board
View File

@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/matek/h743-mini/default.px4board
View File

@ -30,7 +30,7 @@ CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/matek/h743-slim/default.px4board
View File

@ -33,7 +33,7 @@ CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/matek/h743/default.px4board
View File

@ -32,7 +32,7 @@ CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/micoair/h743-aio/default.px4board
View File

@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/micoair/h743-v2/default.px4board
View File

@ -40,7 +40,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/micoair/h743/default.px4board
View File

@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/modalai/fc-v1/default.px4board
View File

@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/modalai/fc-v2/default.px4board
View File

@ -40,7 +40,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/mro/ctrl-zero-classic/default.px4board
View File

@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/mro/ctrl-zero-f7/default.px4board
View File

@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/mro/pixracerpro/default.px4board
View File

@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/mro/x21-777/default.px4board
View File

@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/mro/x21/default.px4board
View File

@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/nxp/fmuk66-e/default.px4board
View File

@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/nxp/fmuk66-v3/default.px4board
View File

@ -48,7 +48,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/nxp/mr-canhubk3/fmu.px4board
View File

@ -33,7 +33,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/nxp/mr-canhubk3/sysview.px4board
View File

@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/nxp/mr-canhubk3/zenoh.px4board
View File

@ -24,7 +24,7 @@ CONFIG_MODULES_ESC_BATTERY=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y

2
boards/nxp/tropic-community/default.px4board
View File

@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v2/fixedwing.px4board
View File

@ -8,6 +8,6 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y

2
boards/px4/fmu-v3/default.px4board
View File

@ -51,7 +51,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v4/default.px4board
View File

@ -52,7 +52,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v4pro/default.px4board
View File

@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v5/default.px4board
View File

@ -55,7 +55,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v5/protected.px4board
View File

@ -17,7 +17,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n

2
boards/px4/fmu-v5/rover.px4board
View File

@ -4,7 +4,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

2
boards/px4/fmu-v5/stackcheck.px4board
View File

@ -29,7 +29,7 @@ CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_EVENTS=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_GIMBAL=n

2
boards/px4/fmu-v5x/default.px4board
View File

@ -59,7 +59,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v5x/rover.px4board
View File

@ -3,7 +3,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

2
boards/px4/fmu-v6c/default.px4board
View File

@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v6c/rover.px4board
View File

@ -2,7 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

2
boards/px4/fmu-v6u/default.px4board
View File

@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v6u/rover.px4board
View File

@ -2,7 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

2
boards/px4/fmu-v6x/default.px4board
View File

@ -57,7 +57,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v6x/multicopter.px4board
View File

@ -3,7 +3,7 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n

2
boards/px4/fmu-v6x/rover.px4board
View File

@ -2,7 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

2
boards/px4/fmu-v6xrt/default.px4board
View File

@ -57,7 +57,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/fmu-v6xrt/rover.px4board
View File

@ -3,7 +3,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

2
boards/px4/raspberrypi/default.px4board
View File

@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/px4/sitl/default.px4board
View File

@ -19,7 +19,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_FIGURE_OF_EIGHT=y
CONFIG_MODULES_FW_RATE_CONTROL=y

2
boards/px4/sitl/spacecraft.px4board
View File

@ -2,7 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y

2
boards/scumaker/pilotpi/default.px4board
View File

@ -32,7 +32,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/siyi/n7/default.px4board
View File

@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/sky-drones/smartap-airlink/default.px4board
View File

@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/thepeach/k1/default.px4board
View File

@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/thepeach/r1/default.px4board
View File

@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/x-mav/ap-h743v2/default.px4board
View File

@ -40,7 +40,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

2
boards/zeroone/x6/default.px4board
View File

@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y

6
posix-configs/SITL/init/test/test_shutdown
View File

@ -29,7 +29,7 @@ flight_mode_manager start
mc_pos_control start vtol
mc_att_control start vtol
mc_rate_control start vtol
fw_pos_control start
fw_mode_manager start
fw_lat_lon_control start
fw_att_control start vtol
airspeed_selector start
@ -60,7 +60,7 @@ flight_mode_manager status
mc_pos_control status
mc_att_control status
mc_rate_control status
fw_pos_control status
fw_mode_manager status
fw_att_control status
airspeed_selector status
dataman status
@ -75,7 +75,7 @@ mc_att_control stop
fw_att_control stop
flight_mode_manager stop
mc_pos_control stop
fw_pos_control stop
fw_mode_manager stop
navigator stop
commander stop
land_detector stop

2
posix-configs/bbblue/px4_fw.config
View File

@ -56,7 +56,7 @@ ekf2 start
land_detector start fixedwing
fw_att_control start
fw_pos_control start
fw_mode_manager start
fw_lat_lon_control start
mavlink start -n SoftAp -x -u 14556 -r 1000000 -p

3
posix-configs/rpi/pilotpi_fw.config
View File

@ -63,7 +63,8 @@ airspeed_selector start
land_detector start fixedwing
flight_mode_manager start
fw_att_control start
fw_pos_control start
fw_mode_manager start
fw_lat_lon_control start
mavlink start -x -u 14556 -r 1000000 -p

2
posix-configs/rpi/px4_fw.config
View File

@ -41,7 +41,7 @@ navigator start
ekf2 start
land_detector start fixedwing
fw_att_control start
fw_pos_control start
fw_mode_manager start
fw_lat_lon_control start
mavlink start -x -u 14556 -r 1000000 -p

10
src/modules/fw_pos_control/CMakeLists.txt → src/modules/fw_mode_manager/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2025 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
@ -55,11 +55,11 @@ endif()
px4_add_module(
MODULE modules__fw_pos_control
MAIN fw_pos_control
MODULE modules__fw_mode_manager
MAIN fw_mode_manager
SRCS
FixedwingPositionControl.cpp
FixedwingPositionControl.hpp
FixedWingModeManager.cpp
FixedWingModeManager.hpp
ControllerConfigurationHandler.cpp
ControllerConfigurationHandler.hpp
DEPENDS

0
src/modules/fw_pos_control/ControllerConfigurationHandler.cpp → src/modules/fw_mode_manager/ControllerConfigurationHandler.cpp
View File

0
src/modules/fw_pos_control/ControllerConfigurationHandler.hpp → src/modules/fw_mode_manager/ControllerConfigurationHandler.hpp
View File

132
src/modules/fw_pos_control/FixedwingPositionControl.cpp → src/modules/fw_mode_manager/FixedWingModeManager.cpp
View File

@ -31,7 +31,7 @@
*
****************************************************************************/
#include "FixedwingPositionControl.hpp"
#include "FixedWingModeManager.hpp"
#include <px4_platform_common/events.h>
#include <uORB/topics/longitudinal_control_configuration.h>
@ -52,7 +52,7 @@ using matrix::wrap_pi;
const fixed_wing_lateral_setpoint_s empty_lateral_control_setpoint = {.timestamp = 0, .course = NAN, .airspeed_direction = NAN, .lateral_acceleration = NAN};
const fixed_wing_longitudinal_setpoint_s empty_longitudinal_control_setpoint = {.timestamp = 0, .altitude = NAN, .height_rate = NAN, .equivalent_airspeed = NAN, .pitch_direct = NAN, .throttle_direct = NAN};
FixedwingPositionControl::FixedwingPositionControl() :
FixedWingModeManager::FixedWingModeManager() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
@ -76,13 +76,13 @@ FixedwingPositionControl::FixedwingPositionControl() :
parameters_update();
}
FixedwingPositionControl::~FixedwingPositionControl()
FixedWingModeManager::~FixedWingModeManager()
{
perf_free(_loop_perf);
}
bool
FixedwingPositionControl::init()
FixedWingModeManager::init()
{
if (!_local_pos_sub.registerCallback()) {
PX4_ERR("callback registration failed");
@ -93,7 +93,7 @@ FixedwingPositionControl::init()
}
void
FixedwingPositionControl::parameters_update()
FixedWingModeManager::parameters_update()
{
updateParams();
@ -107,7 +107,7 @@ FixedwingPositionControl::parameters_update()
}
void
FixedwingPositionControl::vehicle_control_mode_poll()
FixedWingModeManager::vehicle_control_mode_poll()
{
if (_control_mode_sub.updated()) {
const bool was_armed = _control_mode.flag_armed;
@ -124,7 +124,7 @@ FixedwingPositionControl::vehicle_control_mode_poll()
}
void
FixedwingPositionControl::vehicle_command_poll()
FixedWingModeManager::vehicle_command_poll()
{
vehicle_command_s vehicle_command;
@ -158,7 +158,7 @@ FixedwingPositionControl::vehicle_command_poll()
}
void
FixedwingPositionControl::airspeed_poll()
FixedWingModeManager::airspeed_poll()
{
airspeed_validated_s airspeed_validated;
@ -178,7 +178,7 @@ FixedwingPositionControl::airspeed_poll()
}
void
FixedwingPositionControl::wind_poll(const hrt_abstime now)
FixedWingModeManager::wind_poll(const hrt_abstime now)
{
if (_wind_sub.updated()) {
wind_s wind;
@ -205,7 +205,7 @@ FixedwingPositionControl::wind_poll(const hrt_abstime now)
}
void
FixedwingPositionControl::manual_control_setpoint_poll()
FixedWingModeManager::manual_control_setpoint_poll()
{
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
@ -228,7 +228,7 @@ FixedwingPositionControl::manual_control_setpoint_poll()
}
void
FixedwingPositionControl::vehicle_attitude_poll()
FixedWingModeManager::vehicle_attitude_poll()
{
vehicle_attitude_s vehicle_attitude;
@ -263,7 +263,7 @@ FixedwingPositionControl::vehicle_attitude_poll()
}
float
FixedwingPositionControl::get_manual_airspeed_setpoint()
FixedWingModeManager::get_manual_airspeed_setpoint()
{
float manual_airspeed_setpoint = NAN;
@ -282,7 +282,7 @@ FixedwingPositionControl::get_manual_airspeed_setpoint()
}
void
FixedwingPositionControl::landing_status_publish()
FixedWingModeManager::landing_status_publish()
{
position_controller_landing_status_s pos_ctrl_landing_status = {};
@ -295,7 +295,7 @@ FixedwingPositionControl::landing_status_publish()
}
void
FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_status)
FixedWingModeManager::updateLandingAbortStatus(const uint8_t new_abort_status)
{
// prevent automatic aborts if already flaring, but allow manual aborts
if (!_flare_states.flaring || new_abort_status == position_controller_landing_status_s::ABORTED_BY_OPERATOR) {
@ -336,7 +336,7 @@ FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_statu
}
float
FixedwingPositionControl::getManualHeightRateSetpoint()
FixedWingModeManager::getManualHeightRateSetpoint()
{
float height_rate_setpoint = 0.f;
@ -353,7 +353,7 @@ FixedwingPositionControl::getManualHeightRateSetpoint()
}
void
FixedwingPositionControl::updateManualTakeoffStatus()
FixedWingModeManager::updateManualTakeoffStatus()
{
if (!_completed_manual_takeoff) {
const bool at_controllable_airspeed = _airspeed_eas > _param_fw_airspd_min.get()
@ -365,7 +365,7 @@ FixedwingPositionControl::updateManualTakeoffStatus()
}
void
FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
FixedWingModeManager::set_control_mode_current(const hrt_abstime &now)
{
/* only run position controller in fixed-wing mode and during transitions for VTOL */
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.in_transition_mode) {
@ -493,7 +493,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
}
void
FixedwingPositionControl::update_in_air_states(const hrt_abstime now)
FixedWingModeManager::update_in_air_states(const hrt_abstime now)
{
/* reset flag when airplane landed */
if (_landed) {
@ -502,7 +502,7 @@ FixedwingPositionControl::update_in_air_states(const hrt_abstime now)
}
void
FixedwingPositionControl::move_position_setpoint_for_vtol_transition(position_setpoint_s &current_sp)
FixedWingModeManager::move_position_setpoint_for_vtol_transition(position_setpoint_s &current_sp)
{
// TODO: velocity, altitude, or just a heading hold position mode should be used for this, not position
// shifting hacks
@ -535,7 +535,7 @@ FixedwingPositionControl::move_position_setpoint_for_vtol_transition(position_se
}
void
FixedwingPositionControl::control_auto(const float control_interval, const Vector2d &curr_pos,
FixedWingModeManager::control_auto(const float control_interval, const Vector2d &curr_pos,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr,
const position_setpoint_s &pos_sp_next)
{
@ -605,7 +605,7 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
}
}
void FixedwingPositionControl::control_idle()
void FixedWingModeManager::control_idle()
{
const hrt_abstime now = hrt_absolute_time();
fixed_wing_lateral_setpoint_s lateral_ctrl_sp {empty_lateral_control_setpoint};
@ -624,7 +624,7 @@ void FixedwingPositionControl::control_idle()
}
void
FixedwingPositionControl::control_auto_fixed_bank_alt_hold()
FixedWingModeManager::control_auto_fixed_bank_alt_hold()
{
const hrt_abstime now = hrt_absolute_time();
const fixed_wing_longitudinal_setpoint_s fw_longitudinal_control_sp = {
@ -656,7 +656,7 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold()
}
void
FixedwingPositionControl::control_auto_descend()
FixedWingModeManager::control_auto_descend()
{
// Hard-code descend rate to 0.5m/s. This is a compromise to give the system to recover,
// but not letting it drift too far away.
@ -686,7 +686,7 @@ FixedwingPositionControl::control_auto_descend()
}
uint8_t
FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp_curr,
FixedWingModeManager::handle_setpoint_type(const position_setpoint_s &pos_sp_curr,
const position_setpoint_s &pos_sp_next)
{
uint8_t position_sp_type = pos_sp_curr.type;
@ -737,7 +737,7 @@ FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp
}
void
FixedwingPositionControl::control_auto_position(const float control_interval, const Vector2d &curr_pos,
FixedWingModeManager::control_auto_position(const float control_interval, const Vector2d &curr_pos,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
{
const float acc_rad = _directional_guidance.switchDistance(500.0f);
@ -823,7 +823,7 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
}
void
FixedwingPositionControl::control_auto_velocity(const float control_interval, const Vector2d &curr_pos,
FixedWingModeManager::control_auto_velocity(const float control_interval, const Vector2d &curr_pos,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
{
//Offboard velocity control
@ -860,7 +860,7 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
}
void
FixedwingPositionControl::control_auto_loiter(const float control_interval, const Vector2d &curr_pos,
FixedWingModeManager::control_auto_loiter(const float control_interval, const Vector2d &curr_pos,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr,
const position_setpoint_s &pos_sp_next)
{
@ -955,7 +955,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
#ifdef CONFIG_FIGURE_OF_EIGHT
void
FixedwingPositionControl::controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos,
FixedWingModeManager::controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
{
// airspeed settings
@ -999,7 +999,7 @@ FixedwingPositionControl::controlAutoFigureEight(const float control_interval, c
}
}
void FixedwingPositionControl::publishFigureEightStatus(const position_setpoint_s pos_sp)
void FixedWingModeManager::publishFigureEightStatus(const position_setpoint_s pos_sp)
{
figure_eight_status_s figure_eight_status{};
figure_eight_status.timestamp = hrt_absolute_time();
@ -1016,7 +1016,7 @@ void FixedwingPositionControl::publishFigureEightStatus(const position_setpoint_
#endif // CONFIG_FIGURE_OF_EIGHT
void
FixedwingPositionControl::control_auto_path(const float control_interval, const Vector2d &curr_pos,
FixedWingModeManager::control_auto_path(const float control_interval, const Vector2d &curr_pos,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
{
const float target_airspeed = pos_sp_curr.cruising_speed > FLT_EPSILON ? pos_sp_curr.cruising_speed : NAN;
@ -1057,7 +1057,7 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
}
void
FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const float control_interval,
FixedWingModeManager::control_auto_takeoff(const hrt_abstime &now, const float control_interval,
const Vector2d &global_position, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
{
if (!_control_mode.flag_armed) {
@ -1264,7 +1264,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
}
void
FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, const float control_interval,
FixedWingModeManager::control_auto_landing_straight(const hrt_abstime &now, const float control_interval,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
{
const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() :
@ -1471,7 +1471,7 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now,
}
void
FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, const float control_interval,
FixedWingModeManager::control_auto_landing_circular(const hrt_abstime &now, const float control_interval,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
{
const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() :
@ -1635,7 +1635,7 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now,
}
void
FixedwingPositionControl::control_manual_altitude(const float control_interval, const Vector2d &curr_pos,
FixedWingModeManager::control_manual_altitude(const float control_interval, const Vector2d &curr_pos,
const Vector2f &ground_speed)
{
updateManualTakeoffStatus();
@ -1678,7 +1678,7 @@ FixedwingPositionControl::control_manual_altitude(const float control_interval,
}
void
FixedwingPositionControl::control_manual_position(const hrt_abstime now, const float control_interval,
FixedWingModeManager::control_manual_position(const hrt_abstime now, const float control_interval,
const Vector2d &curr_pos,
const Vector2f &ground_speed)
{
@ -1778,12 +1778,12 @@ FixedwingPositionControl::control_manual_position(const hrt_abstime now, const f
}
}
float FixedwingPositionControl::rollAngleToLateralAccel(float roll_body) const
float FixedWingModeManager::rollAngleToLateralAccel(float roll_body) const
{
return tanf(roll_body) * CONSTANTS_ONE_G;
}
void FixedwingPositionControl::control_backtransition_heading_hold()
void FixedWingModeManager::control_backtransition_heading_hold()
{
if (!PX4_ISFINITE(_backtrans_heading)) {
_backtrans_heading = _local_pos.heading;
@ -1795,7 +1795,7 @@ void FixedwingPositionControl::control_backtransition_heading_hold()
_lateral_ctrl_sp_pub.publish(fw_lateral_ctrl_sp);
}
void FixedwingPositionControl::control_backtransition_line_follow(const Vector2f &ground_speed,
void FixedWingModeManager::control_backtransition_line_follow(const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_curr)
{
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
@ -1821,7 +1821,7 @@ void FixedwingPositionControl::control_backtransition_line_follow(const Vector2f
}
void
FixedwingPositionControl::Run()
FixedWingModeManager::Run()
{
if (should_exit()) {
_local_pos_sub.unregisterCallback();
@ -2144,7 +2144,7 @@ FixedwingPositionControl::Run()
}
void
FixedwingPositionControl::reset_takeoff_state()
FixedWingModeManager::reset_takeoff_state()
{
_runway_takeoff.reset();
@ -2156,7 +2156,7 @@ FixedwingPositionControl::reset_takeoff_state()
}
void
FixedwingPositionControl::reset_landing_state()
FixedWingModeManager::reset_landing_state()
{
_time_started_landing = 0;
@ -2174,7 +2174,7 @@ FixedwingPositionControl::reset_landing_state()
}
}
float FixedwingPositionControl::getMaxRollAngleNearGround(const float altitude, const float terrain_altitude) const
float FixedWingModeManager::getMaxRollAngleNearGround(const float altitude, const float terrain_altitude) const
{
// we want the wings level when at the wing height above ground
const float height_above_ground = math::max(altitude - (terrain_altitude + _param_fw_wing_height.get()), 0.0f);
@ -2191,7 +2191,7 @@ float FixedwingPositionControl::getMaxRollAngleNearGround(const float altitude,
void
FixedwingPositionControl::initializeAutoLanding(const hrt_abstime &now, const position_setpoint_s &pos_sp_prev,
FixedWingModeManager::initializeAutoLanding(const hrt_abstime &now, const position_setpoint_s &pos_sp_prev,
const float land_point_altitude, const Vector2f &local_position, const Vector2f &local_land_point)
{
if (_time_started_landing == 0) {
@ -2250,7 +2250,7 @@ FixedwingPositionControl::initializeAutoLanding(const hrt_abstime &now, const po
}
Vector2f
FixedwingPositionControl::calculateTouchdownPosition(const float control_interval, const Vector2f &local_land_position)
FixedWingModeManager::calculateTouchdownPosition(const float control_interval, const Vector2f &local_land_position)
{
if (fabsf(_manual_control_setpoint.yaw) > MANUAL_TOUCHDOWN_NUDGE_INPUT_DEADZONE
&& _param_fw_lnd_nudge.get() > LandingNudgingOption::kNudgingDisabled
@ -2272,7 +2272,7 @@ FixedwingPositionControl::calculateTouchdownPosition(const float control_interva
}
Vector2f
FixedwingPositionControl::calculateLandingApproachVector() const
FixedWingModeManager::calculateLandingApproachVector() const
{
Vector2f landing_approach_vector = -_landing_approach_entrance_offset_vector;
const Vector2f approach_unit_vector = landing_approach_vector.unit_or_zero();
@ -2294,7 +2294,7 @@ FixedwingPositionControl::calculateLandingApproachVector() const
}
float
FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &now, const float land_point_altitude,
FixedWingModeManager::getLandingTerrainAltitudeEstimate(const hrt_abstime &now, const float land_point_altitude,
const bool abort_on_terrain_measurement_timeout, const bool abort_on_terrain_timeout)
{
if (_param_fw_lnd_useter.get() > TerrainEstimateUseOnLanding::kDisableTerrainEstimation) {
@ -2334,7 +2334,7 @@ FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &n
return land_point_altitude;
}
bool FixedwingPositionControl::checkLandingAbortBitMask(const uint8_t automatic_abort_criteria_bitmask,
bool FixedWingModeManager::checkLandingAbortBitMask(const uint8_t automatic_abort_criteria_bitmask,
uint8_t landing_abort_criterion)
{
// landing abort status contains a manual criterion at abort_status==1, need to subtract 2 to directly compare
@ -2348,7 +2348,7 @@ bool FixedwingPositionControl::checkLandingAbortBitMask(const uint8_t automatic_
return ((1 << landing_abort_criterion) & automatic_abort_criteria_bitmask) == (1 << landing_abort_criterion);
}
void FixedwingPositionControl::publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint)
void FixedWingModeManager::publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint)
{
vehicle_local_position_setpoint_s local_position_setpoint{};
local_position_setpoint.timestamp = hrt_absolute_time();
@ -2371,7 +2371,7 @@ void FixedwingPositionControl::publishLocalPositionSetpoint(const position_setpo
_local_pos_sp_pub.publish(local_position_setpoint);
}
void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_sp)
void FixedWingModeManager::publishOrbitStatus(const position_setpoint_s pos_sp)
{
orbit_status_s orbit_status{};
orbit_status.timestamp = hrt_absolute_time();
@ -2390,7 +2390,7 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_
_orbit_status_pub.publish(orbit_status);
}
DirectionalGuidanceOutput FixedwingPositionControl::navigateWaypoints(const Vector2f &start_waypoint,
DirectionalGuidanceOutput FixedWingModeManager::navigateWaypoints(const Vector2f &start_waypoint,
const Vector2f &end_waypoint,
const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
@ -2423,7 +2423,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateWaypoints(const Vect
return navigateLine(start_waypoint, end_waypoint, vehicle_pos, ground_vel, wind_vel);
}
DirectionalGuidanceOutput FixedwingPositionControl::navigateWaypoint(const Vector2f &waypoint_pos,
DirectionalGuidanceOutput FixedWingModeManager::navigateWaypoint(const Vector2f &waypoint_pos,
const Vector2f &vehicle_pos,
const Vector2f &ground_vel, const Vector2f &wind_vel)
{
@ -2444,7 +2444,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateWaypoint(const Vecto
return sp;
}
DirectionalGuidanceOutput FixedwingPositionControl::navigateLine(const Vector2f &point_on_line_1,
DirectionalGuidanceOutput FixedWingModeManager::navigateLine(const Vector2f &point_on_line_1,
const Vector2f &point_on_line_2,
const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
@ -2468,7 +2468,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateLine(const Vector2f
return sp;
}
DirectionalGuidanceOutput FixedwingPositionControl::navigateLine(const Vector2f &point_on_line,
DirectionalGuidanceOutput FixedWingModeManager::navigateLine(const Vector2f &point_on_line,
const float line_bearing,
const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
@ -2485,7 +2485,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateLine(const Vector2f
return sp;
}
DirectionalGuidanceOutput FixedwingPositionControl::navigateLoiter(const Vector2f &loiter_center,
DirectionalGuidanceOutput FixedWingModeManager::navigateLoiter(const Vector2f &loiter_center,
const Vector2f &vehicle_pos,
float radius, bool loiter_direction_counter_clockwise, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
@ -2524,7 +2524,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateLoiter(const Vector2
loiter_center + unit_vec_center_to_closest_pt * radius, path_curvature);
}
DirectionalGuidanceOutput FixedwingPositionControl::navigatePathTangent(const matrix::Vector2f &vehicle_pos,
DirectionalGuidanceOutput FixedWingModeManager::navigatePathTangent(const matrix::Vector2f &vehicle_pos,
const matrix::Vector2f &position_setpoint,
const matrix::Vector2f &tangent_setpoint,
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature)
@ -2541,7 +2541,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigatePathTangent(const ma
curvature);
}
DirectionalGuidanceOutput FixedwingPositionControl::navigateBearing(const matrix::Vector2f &vehicle_pos, float bearing,
DirectionalGuidanceOutput FixedWingModeManager::navigateBearing(const matrix::Vector2f &vehicle_pos, float bearing,
const Vector2f &ground_vel, const Vector2f &wind_vel)
{
const Vector2f unit_path_tangent = Vector2f{cosf(bearing), sinf(bearing)};
@ -2549,7 +2549,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateBearing(const matrix
return _directional_guidance.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, vehicle_pos, 0.0f);
}
void FixedwingPositionControl::publish_lateral_guidance_status(const hrt_abstime now)
void FixedWingModeManager::publish_lateral_guidance_status(const hrt_abstime now)
{
fixed_wing_lateral_guidance_status_s fixed_wing_lateral_guidance_status{};
@ -2566,9 +2566,9 @@ void FixedwingPositionControl::publish_lateral_guidance_status(const hrt_abstime
_fixed_wing_lateral_guidance_status_pub.publish(fixed_wing_lateral_guidance_status);
}
int FixedwingPositionControl::task_spawn(int argc, char *argv[])
int FixedWingModeManager::task_spawn(int argc, char *argv[])
{
FixedwingPositionControl *instance = new FixedwingPositionControl();
FixedWingModeManager *instance = new FixedWingModeManager();
if (instance) {
_object.store(instance);
@ -2589,12 +2589,12 @@ int FixedwingPositionControl::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
int FixedwingPositionControl::custom_command(int argc, char *argv[])
int FixedWingModeManager::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int FixedwingPositionControl::print_usage(const char *reason)
int FixedWingModeManager::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
@ -2603,18 +2603,20 @@ int FixedwingPositionControl::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
fw_pos_control is the fixed-wing position controller.
This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
lateral-longitudinal controller and and controllers below that (attitude, rate).
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("fw_pos_control", "controller");
PRINT_MODULE_USAGE_NAME("fw_mode_manager", "controller");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int fw_pos_control_main(int argc, char *argv[])
extern "C" __EXPORT int fw_mode_manager_main(int argc, char *argv[])
{
return FixedwingPositionControl::main(argc, argv);
return FixedWingModeManager::main(argc, argv);
}

16
src/modules/fw_pos_control/FixedwingPositionControl.hpp → src/modules/fw_mode_manager/FixedWingModeManager.hpp
View File

@ -33,12 +33,12 @@
/**
* @file FixedwingPositionControl.hpp
* Implementation of various fixed-wing position level navigation/control modes.
* @file FixedWingModeManager.hpp
* Implementation of various fixed-wing control modes.
*/
#ifndef FIXEDWINGPOSITIONCONTROL_HPP_
#define FIXEDWINGPOSITIONCONTROL_HPP_
#ifndef FIXEDWINGMODEMANAGER_HPP_
#define FIXEDWINGMODEMANAGER_HPP_
#include "launchdetection/LaunchDetector.h"
#include "runway_takeoff/RunwayTakeoff.h"
@ -151,12 +151,12 @@ static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
// [] Stick deadzon
static constexpr float kStickDeadBand = 0.06f;
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
class FixedWingModeManager final : public ModuleBase<FixedWingModeManager>, public ModuleParams,
public px4::WorkItem
{
public:
FixedwingPositionControl();
~FixedwingPositionControl() override;
FixedWingModeManager();
~FixedWingModeManager() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
@ -872,4 +872,4 @@ private:
)
};
#endif // FIXEDWINGPOSITIONCONTROL_HPP_
#endif // FIXEDWINGMODEMANAGER_HPP_

20
src/modules/fw_mode_manager/Kconfig Normal file
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menuconfig MODULES_FW_MODE_MANAGER
bool "fw_mode_manager"
default n
---help---
Enable support for fw_mode_manager
menuconfig USER_FW_MODE_MANAGER
bool "fw_mode_manager running as userspace module"
default n
depends on BOARD_PROTECTED && MODULES_FW_MODE_MANAGER
---help---
Put fw_mode_manager in userspace memory
menuconfig FIGURE_OF_EIGHT
bool "fw_mode_manager figure of eight loiter support"
default n
depends on MODULES_FW_MODE_MANAGER
---help---
Enable support for the figure of eight loitering pattern in fixed wing.
NOTE: Enable Mavlink development support to get feedback message.

0
src/modules/fw_pos_control/figure_eight/CMakeLists.txt → src/modules/fw_mode_manager/figure_eight/CMakeLists.txt
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src/modules/fw_pos_control/figure_eight/FigureEight.cpp → src/modules/fw_mode_manager/figure_eight/FigureEight.cpp
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src/modules/fw_pos_control/figure_eight/FigureEight.hpp → src/modules/fw_mode_manager/figure_eight/FigureEight.hpp
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src/modules/fw_pos_control/fw_path_navigation_params.c → src/modules/fw_mode_manager/fw_mode_manager_params.c
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src/modules/fw_pos_control/launchdetection/CMakeLists.txt → src/modules/fw_mode_manager/launchdetection/CMakeLists.txt
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src/modules/fw_pos_control/launchdetection/LaunchDetector.cpp → src/modules/fw_mode_manager/launchdetection/LaunchDetector.cpp
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src/modules/fw_pos_control/launchdetection/LaunchDetector.h → src/modules/fw_mode_manager/launchdetection/LaunchDetector.h
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src/modules/fw_pos_control/launchdetection/launchdetection_params.c → src/modules/fw_mode_manager/launchdetection/launchdetection_params.c
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src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt → src/modules/fw_mode_manager/runway_takeoff/CMakeLists.txt
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src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp → src/modules/fw_mode_manager/runway_takeoff/RunwayTakeoff.cpp
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