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4 Commits
| Author | SHA1 | Date | |
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 Pernilla
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597db9b6a2 | ||
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Pernilla
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44bce91dc7 | ||
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Pernilla
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1b9a834309 | ||
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Pernilla
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9a5d5d4ce4 |
+1
-1
@@ -33,7 +33,7 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectiveness.hpp"
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#include <px4_platform_common/module_params.h>
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#include <lib/slew_rate/SlewRate.hpp>
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+1
-1
@@ -41,7 +41,7 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectiveness.hpp"
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#include <px4_platform_common/module_params.h>
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#include <uORB/Subscription.hpp>
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+1
-1
@@ -33,7 +33,7 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include <px4_platform_common/module_params.h>
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@@ -34,6 +34,12 @@
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px4_add_library(ActuatorEffectiveness
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ActuatorEffectiveness.cpp
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ActuatorEffectiveness.hpp
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ActuatorEffectivenessControlSurfaces.cpp
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ActuatorEffectivenessControlSurfaces.hpp
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ActuatorEffectivenessTilts.cpp
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ActuatorEffectivenessTilts.hpp
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ActuatorEffectivenessRotors.cpp
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ActuatorEffectivenessRotors.hpp
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)
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target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
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@@ -43,3 +49,5 @@ target_link_libraries(ActuatorEffectiveness
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mathlib
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PID
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)
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px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS ActuatorEffectiveness)
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@@ -44,4 +44,4 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(ControlAllocation PRIVATE mathlib)
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px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation)
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# px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)
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px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)
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@@ -71,7 +71,7 @@
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#include <matrix/matrix/math.hpp>
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "../actuator_effectiveness/ActuatorEffectiveness.hpp"
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class ControlAllocation
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{
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+1
-1
@@ -40,7 +40,7 @@
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#include <gtest/gtest.h>
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#include <ControlAllocationSequentialDesaturation.hpp>
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#include <actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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#include <control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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using namespace matrix;
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@@ -41,7 +41,7 @@
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#pragma once
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#include <ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <ActuatorEffectivenessMultirotor.hpp>
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#include <ActuatorEffectivenessStandardVTOL.hpp>
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#include <ActuatorEffectivenessTiltrotorVTOL.hpp>
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@@ -54,9 +54,9 @@
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#include <ActuatorEffectivenessHelicopter.hpp>
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#include <ActuatorEffectivenessHelicopterCoaxial.hpp>
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#include <ControlAllocation.hpp>
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#include <ControlAllocationPseudoInverse.hpp>
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#include <ControlAllocationSequentialDesaturation.hpp>
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#include <lib/control_allocation/control_allocation/ControlAllocation.hpp>
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#include <lib/control_allocation/control_allocation/ControlAllocationPseudoInverse.hpp>
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#include <lib/control_allocation/control_allocation/ControlAllocationSequentialDesaturation.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/perf/perf_counter.h>
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+3
-3
@@ -33,9 +33,9 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include "ActuatorEffectivenessControlSurfaces.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp>
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class ActuatorEffectivenessCustom : public ModuleParams, public ActuatorEffectiveness
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{
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+3
-3
@@ -33,9 +33,9 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include "ActuatorEffectivenessControlSurfaces.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp>
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#include <uORB/topics/normalized_unsigned_setpoint.h>
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+1
-1
@@ -33,7 +33,7 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <px4_platform_common/module_params.h>
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+1
-1
@@ -33,7 +33,7 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <px4_platform_common/module_params.h>
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+3
-3
@@ -33,9 +33,9 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include "ActuatorEffectivenessTilts.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessTilts.hpp>
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class ActuatorEffectivenessMCTilt : public ModuleParams, public ActuatorEffectiveness
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{
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+2
-2
@@ -33,8 +33,8 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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class ActuatorEffectivenessMultirotor : public ModuleParams, public ActuatorEffectiveness
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{
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+1
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@@ -33,7 +33,7 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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class ActuatorEffectivenessRoverAckermann : public ActuatorEffectiveness
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{
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+3
-3
@@ -41,9 +41,9 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include "ActuatorEffectivenessControlSurfaces.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp>
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#include <uORB/topics/normalized_unsigned_setpoint.h>
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+3
-3
@@ -39,9 +39,9 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include "ActuatorEffectivenessControlSurfaces.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp>
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#include <uORB/topics/normalized_unsigned_setpoint.h>
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+4
-4
@@ -41,10 +41,10 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include "ActuatorEffectivenessControlSurfaces.hpp"
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#include "ActuatorEffectivenessTilts.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessTilts.hpp>
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#include <px4_platform_common/module_params.h>
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+2
-2
@@ -33,8 +33,8 @@
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#pragma once
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#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp>
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#include <lib/control_allocation/actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
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class ActuatorEffectivenessUUV : public ModuleParams, public ActuatorEffectiveness
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{
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@@ -1,8 +1,6 @@
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px4_add_library(VehicleActuatorEffectiveness
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ActuatorEffectivenessUUV.cpp
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ActuatorEffectivenessUUV.hpp
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ActuatorEffectivenessControlSurfaces.cpp
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ActuatorEffectivenessControlSurfaces.hpp
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ActuatorEffectivenessCustom.cpp
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ActuatorEffectivenessCustom.hpp
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ActuatorEffectivenessFixedWing.cpp
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@@ -15,10 +13,6 @@ px4_add_library(VehicleActuatorEffectiveness
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ActuatorEffectivenessMCTilt.hpp
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ActuatorEffectivenessMultirotor.cpp
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ActuatorEffectivenessMultirotor.hpp
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ActuatorEffectivenessTilts.cpp
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ActuatorEffectivenessTilts.hpp
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ActuatorEffectivenessRotors.cpp
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ActuatorEffectivenessRotors.hpp
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ActuatorEffectivenessStandardVTOL.cpp
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ActuatorEffectivenessStandardVTOL.hpp
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ActuatorEffectivenessTiltrotorVTOL.cpp
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@@ -40,4 +34,3 @@ target_link_libraries(VehicleActuatorEffectiveness
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)
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px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS VehicleActuatorEffectiveness)
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px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS VehicleActuatorEffectiveness)
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