Separate vehicle specific actuator effectiveness

Keep actuator effectivenss in control allocator

src/lib/actuator_effectiveness/CMakeLists.txt

@@ -34,34 +34,6 @@
 px4_add_library(ActuatorEffectiveness
 	ActuatorEffectiveness.cpp
 	ActuatorEffectiveness.hpp
-	ActuatorEffectivenessUUV.cpp
-	ActuatorEffectivenessUUV.hpp
-	ActuatorEffectivenessControlSurfaces.cpp
-	ActuatorEffectivenessControlSurfaces.hpp
-	ActuatorEffectivenessCustom.cpp
-	ActuatorEffectivenessCustom.hpp
-	ActuatorEffectivenessFixedWing.cpp
-	ActuatorEffectivenessFixedWing.hpp
-	ActuatorEffectivenessHelicopter.cpp
-	ActuatorEffectivenessHelicopter.hpp
-	ActuatorEffectivenessHelicopterCoaxial.cpp
-	ActuatorEffectivenessHelicopterCoaxial.hpp
-	ActuatorEffectivenessMCTilt.cpp
-	ActuatorEffectivenessMCTilt.hpp
-	ActuatorEffectivenessMultirotor.cpp
-	ActuatorEffectivenessMultirotor.hpp
-	ActuatorEffectivenessTilts.cpp
-	ActuatorEffectivenessTilts.hpp
-	ActuatorEffectivenessRotors.cpp
-	ActuatorEffectivenessRotors.hpp
-	ActuatorEffectivenessStandardVTOL.cpp
-	ActuatorEffectivenessStandardVTOL.hpp
-	ActuatorEffectivenessTiltrotorVTOL.cpp
-	ActuatorEffectivenessTiltrotorVTOL.hpp
-	ActuatorEffectivenessTailsitterVTOL.cpp
-	ActuatorEffectivenessTailsitterVTOL.hpp
-	ActuatorEffectivenessRoverAckermann.hpp
-	ActuatorEffectivenessRoverAckermann.cpp
 )
 
 target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
@@ -70,6 +42,3 @@ target_link_libraries(ActuatorEffectiveness
 	PRIVATE
 		mathlib
 )
-
-px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS ActuatorEffectiveness)
-px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS ActuatorEffectiveness)

src/modules/control_allocator/CMakeLists.txt

@@ -32,6 +32,7 @@
 ############################################################################
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+add_subdirectory(VehicleActuatorEffectiveness)
 
 px4_add_module(
 	MODULE modules__control_allocator
@@ -48,6 +49,7 @@ px4_add_module(
 	DEPENDS
 		mathlib
 		ActuatorEffectiveness
+		VehicleActuatorEffectiveness
 		ControlAllocation
 		px4_work_queue
 		SlewRate

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <lib/slew_rate/SlewRate.hpp>

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessTilts.hpp"
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessMultirotor : public ModuleParams, public ActuatorEffectiveness

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ActuatorEffectivenessRoverAckermann : public ActuatorEffectiveness
 {

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp

@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 #include "ActuatorEffectivenessTilts.hpp"

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 #include <px4_platform_common/module_params.h>

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessUUV : public ModuleParams, public ActuatorEffectiveness

src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt

@@ -0,0 +1,41 @@
+px4_add_library(VehicleActuatorEffectiveness
+	ActuatorEffectivenessUUV.cpp
+	ActuatorEffectivenessUUV.hpp
+	ActuatorEffectivenessControlSurfaces.cpp
+	ActuatorEffectivenessControlSurfaces.hpp
+	ActuatorEffectivenessCustom.cpp
+	ActuatorEffectivenessCustom.hpp
+	ActuatorEffectivenessFixedWing.cpp
+	ActuatorEffectivenessFixedWing.hpp
+	ActuatorEffectivenessHelicopter.cpp
+	ActuatorEffectivenessHelicopter.hpp
+	ActuatorEffectivenessHelicopterCoaxial.cpp
+	ActuatorEffectivenessHelicopterCoaxial.hpp
+	ActuatorEffectivenessMCTilt.cpp
+	ActuatorEffectivenessMCTilt.hpp
+	ActuatorEffectivenessMultirotor.cpp
+	ActuatorEffectivenessMultirotor.hpp
+	ActuatorEffectivenessTilts.cpp
+	ActuatorEffectivenessTilts.hpp
+	ActuatorEffectivenessRotors.cpp
+	ActuatorEffectivenessRotors.hpp
+	ActuatorEffectivenessStandardVTOL.cpp
+	ActuatorEffectivenessStandardVTOL.hpp
+	ActuatorEffectivenessTiltrotorVTOL.cpp
+	ActuatorEffectivenessTiltrotorVTOL.hpp
+	ActuatorEffectivenessTailsitterVTOL.cpp
+	ActuatorEffectivenessTailsitterVTOL.hpp
+	ActuatorEffectivenessRoverAckermann.hpp
+	ActuatorEffectivenessRoverAckermann.cpp
+)
+
+target_compile_options(VehicleActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_include_directories(VehicleActuatorEffectiveness PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(VehicleActuatorEffectiveness
+	PRIVATE
+		mathlib
+		ActuatorEffectiveness
+)
+
+px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS VehicleActuatorEffectiveness)
+px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS VehicleActuatorEffectiveness)