From dac5ae050f0fd0df3345ac100bec89bcef5d5ed0 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Fri, 10 Jan 2025 18:14:35 +0100 Subject: [PATCH] Separate vehicle specific actuator effectiveness Keep actuator effectivenss in control allocator --- src/lib/actuator_effectiveness/CMakeLists.txt | 31 -------------- src/modules/control_allocator/CMakeLists.txt | 2 + .../ActuatorEffectivenessControlSurfaces.cpp | 0 .../ActuatorEffectivenessControlSurfaces.hpp | 2 +- .../ActuatorEffectivenessCustom.cpp | 0 .../ActuatorEffectivenessCustom.hpp | 2 +- .../ActuatorEffectivenessFixedWing.cpp | 0 .../ActuatorEffectivenessFixedWing.hpp | 2 +- .../ActuatorEffectivenessHelicopter.cpp | 0 .../ActuatorEffectivenessHelicopter.hpp | 2 +- ...ActuatorEffectivenessHelicopterCoaxial.cpp | 0 ...ActuatorEffectivenessHelicopterCoaxial.hpp | 2 +- .../ActuatorEffectivenessHelicopterTest.cpp | 0 .../ActuatorEffectivenessMCTilt.cpp | 0 .../ActuatorEffectivenessMCTilt.hpp | 2 +- .../ActuatorEffectivenessMultirotor.cpp | 0 .../ActuatorEffectivenessMultirotor.hpp | 2 +- .../ActuatorEffectivenessRotors.cpp | 0 .../ActuatorEffectivenessRotors.hpp | 2 +- .../ActuatorEffectivenessRotorsTest.cpp | 0 .../ActuatorEffectivenessRoverAckermann.cpp | 0 .../ActuatorEffectivenessRoverAckermann.hpp | 2 +- .../ActuatorEffectivenessStandardVTOL.cpp | 0 .../ActuatorEffectivenessStandardVTOL.hpp | 2 +- .../ActuatorEffectivenessTailsitterVTOL.cpp | 0 .../ActuatorEffectivenessTailsitterVTOL.hpp | 2 +- .../ActuatorEffectivenessTiltrotorVTOL.cpp | 0 .../ActuatorEffectivenessTiltrotorVTOL.hpp | 2 +- .../ActuatorEffectivenessTilts.cpp | 0 .../ActuatorEffectivenessTilts.hpp | 2 +- .../ActuatorEffectivenessUUV.cpp | 0 .../ActuatorEffectivenessUUV.hpp | 2 +- .../CMakeLists.txt | 41 +++++++++++++++++++ 33 files changed, 57 insertions(+), 45 deletions(-) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessControlSurfaces.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessControlSurfaces.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessCustom.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessCustom.hpp (97%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessFixedWing.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessFixedWing.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessHelicopter.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessHelicopter.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessHelicopterCoaxial.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessHelicopterCoaxial.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessHelicopterTest.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessMCTilt.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessMCTilt.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessMultirotor.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessMultirotor.hpp (97%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessRotors.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessRotors.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessRotorsTest.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessRoverAckermann.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessRoverAckermann.hpp (97%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessStandardVTOL.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessStandardVTOL.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessTailsitterVTOL.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessTailsitterVTOL.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessTiltrotorVTOL.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessTiltrotorVTOL.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessTilts.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessTilts.hpp (98%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessUUV.cpp (100%) rename src/{lib/actuator_effectiveness => modules/control_allocator/VehicleActuatorEffectiveness}/ActuatorEffectivenessUUV.hpp (97%) create mode 100644 src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt diff --git a/src/lib/actuator_effectiveness/CMakeLists.txt b/src/lib/actuator_effectiveness/CMakeLists.txt index 2406b81bf8..f4cdf0d0ac 100644 --- a/src/lib/actuator_effectiveness/CMakeLists.txt +++ b/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 ${MAX_CUSTOM_OPT_LEVEL}) @@ -70,6 +42,3 @@ target_link_libraries(ActuatorEffectiveness PRIVATE mathlib ) - -px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS ActuatorEffectiveness) -px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS ActuatorEffectiveness) diff --git a/src/modules/control_allocator/CMakeLists.txt b/src/modules/control_allocator/CMakeLists.txt index fc23e13364..36d5c7e171 100644 --- a/src/modules/control_allocator/CMakeLists.txt +++ b/src/modules/control_allocator/CMakeLists.txt @@ -32,6 +32,7 @@ ############################################################################ include_directories(${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 diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp index a0b8b06c16..446fd44926 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp @@ -33,7 +33,7 @@ #pragma once -#include "ActuatorEffectiveness.hpp" +#include "actuator_effectiveness/ActuatorEffectiveness.hpp" #include #include diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp similarity index 97% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp index 0cc1390bd2..c640ba83c7 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp +++ b/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" diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp index 5b4b7785b2..55c6282b46 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp +++ b/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" diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp index 439e0f4ab9..60e770de0c 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp @@ -33,7 +33,7 @@ #pragma once -#include "ActuatorEffectiveness.hpp" +#include "actuator_effectiveness/ActuatorEffectiveness.hpp" #include diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp index d5316bf498..a01306d972 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp @@ -33,7 +33,7 @@ #pragma once -#include "ActuatorEffectiveness.hpp" +#include "actuator_effectiveness/ActuatorEffectiveness.hpp" #include diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterTest.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterTest.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp index 848c8b8853..d35ecadc54 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp +++ b/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" diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp similarity index 97% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp index e0a355edd2..11111e073a 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp +++ b/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 diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp index 3844df4c84..48aa604eae 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp @@ -41,7 +41,7 @@ #pragma once -#include "ActuatorEffectiveness.hpp" +#include "actuator_effectiveness/ActuatorEffectiveness.hpp" #include #include diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRotorsTest.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotorsTest.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRotorsTest.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotorsTest.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp similarity index 97% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp index 294e453ec6..5c1388de15 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp +++ b/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 { diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp index 0e5d1bfa44..2160ca929c 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp +++ b/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" diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp index 604f05f9e0..ba5255eb52 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp +++ b/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" diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp index 310d937064..e96ec61def 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp +++ b/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" diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.hpp similarity index 98% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.hpp index d885a09155..936d0e4b67 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp +++ b/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 diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp similarity index 100% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.cpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp similarity index 97% rename from src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp index 57e86f9436..8235747dde 100644 --- a/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp +++ b/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 diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt b/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt new file mode 100644 index 0000000000..14c3a37ecd --- /dev/null +++ b/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)