sv: extend rover control lib to surface vehicles

src/lib/CMakeLists.txt

@@ -67,11 +67,11 @@ add_subdirectory(pure_pursuit EXCLUDE_FROM_ALL)
 add_subdirectory(rate_control EXCLUDE_FROM_ALL)
 add_subdirectory(rc EXCLUDE_FROM_ALL)
 add_subdirectory(ringbuffer EXCLUDE_FROM_ALL)
-add_subdirectory(rover_control EXCLUDE_FROM_ALL)
 add_subdirectory(rtl EXCLUDE_FROM_ALL)
 add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL)
 add_subdirectory(slew_rate EXCLUDE_FROM_ALL)
 add_subdirectory(stick_yaw EXCLUDE_FROM_ALL)
+add_subdirectory(surface_vehicle_control EXCLUDE_FROM_ALL)
 add_subdirectory(systemlib EXCLUDE_FROM_ALL)
 add_subdirectory(system_identification EXCLUDE_FROM_ALL)
 add_subdirectory(tecs EXCLUDE_FROM_ALL)

src/lib/surface_vehicle_control/CMakeLists.txt

@@ -31,11 +31,11 @@
 #
 ############################################################################
 
-px4_add_library(rover_control
+px4_add_library(surface_vehicle_control
-	RoverControl.cpp
+	SurfaceVehicleControl.cpp
-	RoverControl.hpp
+	SurfaceVehicleControl.hpp
 )
 
-target_link_libraries(rover_control PUBLIC PID)
+target_link_libraries(surface_vehicle_control PUBLIC PID)
-target_link_libraries(rover_control PUBLIC geo)
+target_link_libraries(surface_vehicle_control PUBLIC geo)
-px4_add_unit_gtest(SRC RoverControlTest.cpp LINKLIBS rover_control)
+px4_add_unit_gtest(SRC SurfaceVehicleControlTest.cpp LINKLIBS surface_vehicle_control)

src/lib/surface_vehicle_control/SurfaceVehicleControl.cpp

@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 
-#include "RoverControl.hpp"
+#include "SurfaceVehicleControl.hpp"
 using namespace matrix;
-namespace RoverControl
+namespace SurfaceVehicleControl
 {
 float throttleControl(SlewRate<float> &motor_setpoint, const float throttle_setpoint,
 		      const float current_motor_setpoint, const float max_accel, const float max_decel, const float max_thr_spd,
@@ -265,4 +265,4 @@ float calcWaypointTransitionAngle(Vector2f &prev_wp_ned, Vector2f &curr_wp_ned,
 	return acosf(cosin);
 }
 
-} // RoverControl
+} // SurfaceVehicleControl

src/lib/surface_vehicle_control/SurfaceVehicleControl.hpp

@@ -32,10 +32,10 @@
  ****************************************************************************/
 
 /**
- * @file RoverControl.hpp
+ * @file SurfaceVehicleControl.hpp
  *
- * Functions that are shared among the different rover modules.
+ * Functions that are shared among the different surface vehicles.
- * Also includes the parameters that are shared among the rover modules.
+ * Also includes the parameters that are shared among them.
  */
 
 #pragma once
@@ -47,7 +47,7 @@
 #include <lib/geo/geo.h>
 
 using namespace matrix;
-namespace RoverControl
+namespace SurfaceVehicleControl
 {
 /**
  * Applies acceleration/deceleration slew rate to a throttle setpoint.
@@ -56,7 +56,7 @@ namespace RoverControl
  * @param current_motor_setpoint Currently applied motor input [-1, 1]
  * @param max_accel Maximum allowed acceleration [m/s^2]
  * @param max_decel Maximum allowed deceleration [m/s^2]
- * @param max_thr_spd Speed the rover drives at maximum throttle [m/s]
+ * @param max_thr_spd Speed the vehicle drives at maximum throttle [m/s]
  * @param dt Time since last update [s]
  * @return Motor Setpoint [-1, 1]
  */
@@ -76,6 +76,7 @@ float throttleControl(SlewRate<float> &motor_setpoint, float throttle_setpoint,
  */
 float attitudeControl(SlewRateYaw<float> &adjusted_yaw_setpoint, PID &pid_yaw, float yaw_slew_rate,
 		      float vehicle_yaw, float yaw_setpoint, float dt);
+
 /**
  * Applies acceleration/deceleration slew rate to a speed setpoint and calculates the necessary throttle setpoint
  * using a feed forward term and PID controller.
@@ -95,7 +96,7 @@ float speedControl(SlewRate<float> &speed_with_rate_limit, PID &pid_speed, float
 /**
  * Applies yaw acceleration slew rate to a yaw rate setpoint and calculates the necessary speed diff setpoint
  * using a feedforward term and/or a PID controller.
- * Note: This function is only for rovers that control the rate through a speed difference between the left/right wheels.
+ * Note: This function is only for vehicles that control the rate through a speed difference between the left/right wheels.
  * @param adjusted_yaw_rate_setpoint Yaw rate setpoint with applied slew rate [-1, 1] (Updated by this function).
  * @param pid_yaw_rate Yaw rate PID (Updated by this function).
  * @param yaw_rate_setpoint Yaw rate setpoint [rad/s].
@@ -119,7 +120,7 @@ float rateControl(SlewRate<float> &adjusted_yaw_rate_setpoint, PID &pid_yaw_rate
  * @param prev_wp_ned Previous waypoint in NED frame (Updated by this function)
  * @param next_wp_ned Next waypoint in NED frame (Updated by this function)
  * @param position_setpoint_triplet Position Setpoint Triplet
- * @param curr_pos Current position of the rover in global frame
+ * @param curr_pos Current position of the vehicle in global frame
  * @param global_ned_proj_ref Global to ned projection
  */
 void globalToLocalSetpointTriplet(Vector2f &curr_wp_ned, Vector2f &prev_wp_ned, Vector2f &next_wp_ned,

src/lib/surface_vehicle_control/SurfaceVehicleControlTest.cpp

@@ -33,24 +33,24 @@
 
 /******************************************************************
  * Test code for the Pure Pursuit algorithm
- * Run this test only using "make tests TESTFILTER=RoverControl"
+ * Run this test only using "make tests TESTFILTER=SurfaceVehicleControl"
 ******************************************************************/
 
 #include <gtest/gtest.h>
-#include "RoverControl.hpp"
+#include "SurfaceVehicleControl.hpp"
 
 TEST(calcWaypointTransitionAngle, invalidInputs)
 {
 	Vector2f prev_wp_ned(NAN, NAN);
 	Vector2f curr_wp_ned(10.f, 10.f);
 	Vector2f next_wp_ned(10.f, 10.f);
-	float prevInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	float prevInvalid = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	prev_wp_ned = Vector2f(10.f, 10.f);
 	curr_wp_ned = Vector2f(NAN, NAN);
-	float currInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	float currInvalid = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	curr_wp_ned = Vector2f(10.f, 10.f);
 	next_wp_ned = Vector2f(NAN, NAN);
-	float nextInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	float nextInvalid = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FALSE(PX4_ISFINITE(prevInvalid));
 	EXPECT_FALSE(PX4_ISFINITE(currInvalid));
 	EXPECT_FALSE(PX4_ISFINITE(nextInvalid));
@@ -63,7 +63,7 @@ TEST(calcWaypointTransitionAngle, validInputs)
 	Vector2f prev_wp_ned(0.f, 0.f);
 	Vector2f curr_wp_ned(10.f, 0.f);
 	Vector2f next_wp_ned(20.f, 0.f);
-	const float angle1 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle1 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FLOAT_EQ(angle1, M_PI_F);
 
 	/**
@@ -74,7 +74,7 @@ TEST(calcWaypointTransitionAngle, validInputs)
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(10.f, 0.f);
 	next_wp_ned = Vector2f(20.f, 10.f);
-	const float angle2 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle2 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FLOAT_EQ(angle2, M_PI_F - M_PI_4_F);
 
 	/**
@@ -85,7 +85,7 @@ TEST(calcWaypointTransitionAngle, validInputs)
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(10.f, 0.f);
 	next_wp_ned = Vector2f(10.f, 10.f);
-	const float angle3 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle3 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FLOAT_EQ(angle3, M_PI_2_F);
 
 	/**
@@ -96,20 +96,20 @@ TEST(calcWaypointTransitionAngle, validInputs)
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(10.f, 0.f);
 	next_wp_ned = Vector2f(0.f, 10.f);
-	const float angle4 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle4 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FLOAT_EQ(angle4, M_PI_4_F);
 
 	// P/C -- N
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(0.f, 0.f);
 	next_wp_ned = Vector2f(10.f, 0.f);
-	const float angle5 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle5 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FALSE(PX4_ISFINITE(angle5));
 
 	// P -- C/N
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(10.f, 0.f);
 	next_wp_ned = Vector2f(10.f, 0.f);
-	const float angle6 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle6 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FALSE(PX4_ISFINITE(angle6));
 }

src/modules/rover_ackermann/AckermannActControl/AckermannActControl.cpp

@@ -71,7 +71,7 @@ void AckermannActControl::updateActControl()
 		_actuator_motors_sub.copy(&actuator_motors_sub);
 		actuator_motors_s actuator_motors{};
 		actuator_motors.reversible_flags = _param_r_rev.get();
-		actuator_motors.control[0] = RoverControl::throttleControl(_motor_setpoint,
+		actuator_motors.control[0] = SurfaceVehicleControl::throttleControl(_motor_setpoint,
 					     _throttle_setpoint, actuator_motors_sub.control[0], _param_ro_accel_limit.get(),
 					     _param_ro_decel_limit.get(), _param_ro_max_thr_speed.get(), dt);
 		actuator_motors.timestamp = _timestamp;

src/modules/rover_ackermann/AckermannActControl/AckermannActControl.hpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
 #include <math.h>
 

src/modules/rover_ackermann/AckermannAttControl/AckermannAttControl.cpp

@@ -73,7 +73,7 @@ void AckermannAttControl::updateAttControl()
 					      _param_ra_wheel_base.get(); // Maximum possible yaw rate at current velocity
 		float yaw_slew_rate = math::min(max_possible_yaw_rate, _max_yaw_rate);
 
-		float yaw_rate_setpoint = RoverControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, yaw_slew_rate,
+		float yaw_rate_setpoint = SurfaceVehicleControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, yaw_slew_rate,
 					  _vehicle_yaw, _yaw_setpoint, dt);
 
 		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};

src/modules/rover_ackermann/AckermannAttControl/AckermannAttControl.hpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>
 
 // Library includes
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <lib/slew_rate/SlewRateYaw.hpp>
 #include <math.h>

src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.cpp

@@ -92,10 +92,11 @@ void AckermannAutoMode::updateWaypointsAndAcceptanceRadius()
 	_position_setpoint_triplet_sub.copy(&position_setpoint_triplet);
 	_curr_wp_type = position_setpoint_triplet.current.type;
 
-	RoverControl::globalToLocalSetpointTriplet(_curr_wp_ned, _prev_wp_ned, _next_wp_ned, position_setpoint_triplet,
+	SurfaceVehicleControl::globalToLocalSetpointTriplet(_curr_wp_ned, _prev_wp_ned, _next_wp_ned, position_setpoint_triplet,
 			_curr_pos_ned, _global_ned_proj_ref);
 
-	_waypoint_transition_angle = RoverControl::calcWaypointTransitionAngle(_prev_wp_ned, _curr_wp_ned, _next_wp_ned);
+	_waypoint_transition_angle = SurfaceVehicleControl::calcWaypointTransitionAngle(_prev_wp_ned, _curr_wp_ned,
+				     _next_wp_ned);
 
 	// Update acceptance radius
 	if (_param_ra_acc_rad_max.get() >= _param_nav_acc_rad.get()) {

src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.hpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <math.h>
 
 // uORB includes

src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <math.h>
 
 // uORB includes

src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
 #include <math.h>

src/modules/rover_ackermann/AckermannSpeedControl/AckermannSpeedControl.cpp

@@ -71,7 +71,8 @@ void AckermannSpeedControl::updateSpeedControl()
 					     _param_ro_speed_limit.get());
 		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
 		surface_vehicle_throttle_setpoint.timestamp = _timestamp;
-		surface_vehicle_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_setpoint, _pid_speed,
+		surface_vehicle_throttle_setpoint.throttle_body_x = SurfaceVehicleControl::speedControl(_adjusted_speed_setpoint,
+				_pid_speed,
 				speed_setpoint, _vehicle_speed, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
 				_param_ro_max_thr_speed.get(), dt);
 		surface_vehicle_throttle_setpoint.throttle_body_y = NAN;

src/modules/rover_ackermann/AckermannSpeedControl/AckermannSpeedControl.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>
 
 // Library includes
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <matrix/matrix/math.hpp>
 #include <lib/slew_rate/SlewRate.hpp>

src/modules/rover_ackermann/CMakeLists.txt

@@ -54,7 +54,7 @@ px4_add_module(
 		AckermannManualMode
 		AckermannOffboardMode
 		px4_work_queue
-		rover_control
+		surface_vehicle_control
 		pure_pursuit
 	MODULE_CONFIG
 		module.yaml

src/modules/rover_differential/CMakeLists.txt

@@ -54,7 +54,7 @@ px4_add_module(
 		DifferentialManualMode
 		DifferentialOffboardMode
 		px4_work_queue
-		rover_control
+		surface_vehicle_control
 		pure_pursuit
 	MODULE_CONFIG
 		module.yaml

src/modules/rover_differential/DifferentialActControl/DifferentialActControl.cpp

@@ -72,7 +72,7 @@ void DifferentialActControl::updateActControl()
 		actuator_motors_s actuator_motors_sub{};
 		_actuator_motors_sub.copy(&actuator_motors_sub);
 		const float current_throttle = (actuator_motors_sub.control[0] + actuator_motors_sub.control[1]) / 2.f;
-		const float adjusted_throttle_setpoint = RoverControl::throttleControl(_adjusted_throttle_setpoint,
+		const float adjusted_throttle_setpoint = SurfaceVehicleControl::throttleControl(_adjusted_throttle_setpoint,
 				_throttle_setpoint, current_throttle, _param_ro_accel_limit.get(),
 				_param_ro_decel_limit.get(), _param_ro_max_thr_speed.get(), dt);
 		actuator_motors_s actuator_motors{};

src/modules/rover_differential/DifferentialActControl/DifferentialActControl.hpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
 #include <math.h>
 

src/modules/rover_differential/DifferentialAttControl/DifferentialAttControl.cpp

@@ -79,7 +79,7 @@ void DifferentialAttControl::updateAttControl()
 	}
 
 	if (PX4_ISFINITE(_yaw_setpoint)) {
-		const float yaw_rate_setpoint = RoverControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, _max_yaw_rate,
+		const float yaw_rate_setpoint = SurfaceVehicleControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, _max_yaw_rate,
 						_vehicle_yaw, _yaw_setpoint, dt);
 		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
 		surface_vehicle_rate_setpoint.timestamp = _timestamp;

src/modules/rover_differential/DifferentialAttControl/DifferentialAttControl.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <lib/slew_rate/SlewRateYaw.hpp>
 #include <math.h>

src/modules/rover_differential/DifferentialDriveModes/DifferentialAutoMode/DifferentialAutoMode.cpp

@@ -69,10 +69,11 @@ void DifferentialAutoMode::autoControl()
 		Vector2f prev_wp_ned{NAN, NAN};
 		Vector2f next_wp_ned{NAN, NAN};
 
-		RoverControl::globalToLocalSetpointTriplet(curr_wp_ned, prev_wp_ned, next_wp_ned, position_setpoint_triplet,
+		SurfaceVehicleControl::globalToLocalSetpointTriplet(curr_wp_ned, prev_wp_ned, next_wp_ned, position_setpoint_triplet,
 				curr_pos_ned, global_ned_proj_ref);
 
-		float waypoint_transition_angle = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+		float waypoint_transition_angle = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned,
+						  next_wp_ned);
 
 		// Waypoint cruising speed
 		float cruising_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(

src/modules/rover_differential/DifferentialDriveModes/DifferentialAutoMode/DifferentialAutoMode.hpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <math.h>
 
 // uORB includes

src/modules/rover_differential/DifferentialRateControl/DifferentialRateControl.cpp

@@ -77,7 +77,7 @@ void DifferentialRateControl::updateRateControl()
 	if (PX4_ISFINITE(_yaw_rate_setpoint)) {
 		const float yaw_rate_setpoint = fabsf(_yaw_rate_setpoint) > _param_ro_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
 						_yaw_rate_setpoint : 0.f;
-		const float speed_diff_normalized = RoverControl::rateControl(_adjusted_yaw_rate_setpoint, _pid_yaw_rate,
+		const float speed_diff_normalized = SurfaceVehicleControl::rateControl(_adjusted_yaw_rate_setpoint, _pid_yaw_rate,
 						    yaw_rate_setpoint, _vehicle_yaw_rate, _param_ro_max_thr_speed.get(), _param_ro_yaw_rate_corr.get(),
 						    _param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F,
 						    _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rd_wheel_track.get(), dt);

src/modules/rover_differential/DifferentialRateControl/DifferentialRateControl.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
 #include <math.h>

src/modules/rover_differential/DifferentialSpeedControl/DifferentialSpeedControl.cpp

@@ -70,7 +70,8 @@ void DifferentialSpeedControl::updateSpeedControl()
 		const float speed_setpoint = calcSpeedSetpoint();
 		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
 		surface_vehicle_throttle_setpoint.timestamp = _timestamp;
-		surface_vehicle_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_setpoint, _pid_speed,
+		surface_vehicle_throttle_setpoint.throttle_body_x = SurfaceVehicleControl::speedControl(_adjusted_speed_setpoint,
+				_pid_speed,
 				speed_setpoint, _vehicle_speed, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
 				_param_ro_max_thr_speed.get(), dt);
 		surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;

src/modules/rover_differential/DifferentialSpeedControl/DifferentialSpeedControl.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <matrix/matrix/math.hpp>
 #include <lib/slew_rate/SlewRate.hpp>

src/modules/rover_mecanum/CMakeLists.txt

@@ -54,7 +54,7 @@ px4_add_module(
 		MecanumManualMode
 		MecanumOffboardMode
 		px4_work_queue
-		rover_control
+		surface_vehicle_control
 		pure_pursuit
 	MODULE_CONFIG
 		module.yaml

src/modules/rover_mecanum/MecanumActControl/MecanumActControl.cpp

@@ -75,10 +75,10 @@ void MecanumActControl::updateActControl()
 		_actuator_motors_sub.copy(&actuator_motors_sub);
 		const float current_throttle_x = (actuator_motors_sub.control[0] + actuator_motors_sub.control[1]) / 2.f;
 		const float current_throttle_y = (actuator_motors_sub.control[2] - actuator_motors_sub.control[0]) / 2.f;
-		const float adjusted_throttle_x_setpoint = RoverControl::throttleControl(_adjusted_throttle_x_setpoint,
+		const float adjusted_throttle_x_setpoint = SurfaceVehicleControl::throttleControl(_adjusted_throttle_x_setpoint,
 				_throttle_x_setpoint, current_throttle_x, _param_ro_accel_limit.get(),
 				_param_ro_decel_limit.get(), _param_ro_max_thr_speed.get(), dt);
-		const float adjusted_throttle_y_setpoint = RoverControl::throttleControl(_adjusted_throttle_y_setpoint,
+		const float adjusted_throttle_y_setpoint = SurfaceVehicleControl::throttleControl(_adjusted_throttle_y_setpoint,
 				_throttle_y_setpoint, current_throttle_y, _param_ro_accel_limit.get(),
 				_param_ro_decel_limit.get(), _param_ro_max_thr_speed.get(), dt);
 		actuator_motors_s actuator_motors{};

src/modules/rover_mecanum/MecanumActControl/MecanumActControl.hpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
 #include <math.h>
 

src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.cpp

@@ -79,7 +79,7 @@ void MecanumAttControl::updateAttControl()
 	}
 
 	if (PX4_ISFINITE(_yaw_setpoint)) {
-		const float yaw_rate_setpoint = RoverControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, _max_yaw_rate,
+		const float yaw_rate_setpoint = SurfaceVehicleControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, _max_yaw_rate,
 						_vehicle_yaw, _yaw_setpoint, dt);
 		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
 		surface_vehicle_rate_setpoint.timestamp = _timestamp;

src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <lib/slew_rate/SlewRateYaw.hpp>
 #include <math.h>

src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.cpp

@@ -69,10 +69,11 @@ void MecanumAutoMode::autoControl()
 		Vector2f prev_wp_ned{NAN, NAN};
 		Vector2f next_wp_ned{NAN, NAN};
 
-		RoverControl::globalToLocalSetpointTriplet(curr_wp_ned, prev_wp_ned, next_wp_ned, position_setpoint_triplet,
+		SurfaceVehicleControl::globalToLocalSetpointTriplet(curr_wp_ned, prev_wp_ned, next_wp_ned, position_setpoint_triplet,
 				curr_pos_ned, global_ned_proj_ref);
 
-		float waypoint_transition_angle = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+		float waypoint_transition_angle = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned,
+						  next_wp_ned);
 
 		// Waypoint cruising speed
 		float cruising_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(

src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.hpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <math.h>
 
 // uORB includes

src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.cpp

@@ -77,7 +77,7 @@ void MecanumRateControl::updateRateControl()
 	if (PX4_ISFINITE(_yaw_rate_setpoint)) {
 		const float yaw_rate_setpoint = fabsf(_yaw_rate_setpoint) > _param_ro_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
 						_yaw_rate_setpoint : 0.f;
-		const float speed_diff_normalized = RoverControl::rateControl(_adjusted_yaw_rate_setpoint, _pid_yaw_rate,
+		const float speed_diff_normalized = SurfaceVehicleControl::rateControl(_adjusted_yaw_rate_setpoint, _pid_yaw_rate,
 						    yaw_rate_setpoint, _vehicle_yaw_rate, _param_ro_max_thr_speed.get(), _param_ro_yaw_rate_corr.get(),
 						    _param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F,
 						    _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rm_wheel_track.get(), dt);

src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
 #include <math.h>

src/modules/rover_mecanum/MecanumSpeedControl/MecanumSpeedControl.cpp

@@ -75,10 +75,12 @@ void MecanumSpeedControl::updateSpeedControl()
 		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
 		surface_vehicle_throttle_setpoint.timestamp = _timestamp;
 
-		surface_vehicle_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_x_setpoint, _pid_speed_x,
+		surface_vehicle_throttle_setpoint.throttle_body_x = SurfaceVehicleControl::speedControl(_adjusted_speed_x_setpoint,
+				_pid_speed_x,
 				speed_setpoint(0), _vehicle_speed_body_x, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
 				_param_ro_max_thr_speed.get(), dt);
-		surface_vehicle_throttle_setpoint.throttle_body_y = RoverControl::speedControl(_adjusted_speed_y_setpoint, _pid_speed_y,
+		surface_vehicle_throttle_setpoint.throttle_body_y = SurfaceVehicleControl::speedControl(_adjusted_speed_y_setpoint,
+				_pid_speed_y,
 				speed_setpoint(1), _vehicle_speed_body_y, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
 				_param_ro_max_thr_speed.get(), dt);
 		_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);

src/modules/rover_mecanum/MecanumSpeedControl/MecanumSpeedControl.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>
 
 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <matrix/matrix/math.hpp>
 #include <lib/slew_rate/SlewRate.hpp>