From e9931017cf826cec09c2a233e5a6fca2dec836b7 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Thu, 6 Apr 2023 17:49:59 +0200 Subject: [PATCH] fw pos control: revert name until we delineate this module a bit more --- ROMFS/px4fmu_common/init.d/rc.fw_apps | 2 +- ROMFS/px4fmu_common/init.d/rc.vtol_apps | 2 +- boards/airmind/mindpx-v2/default.px4board | 2 +- boards/ark/fmu-v6x/default.px4board | 2 +- boards/av/x-v1/default.px4board | 2 +- boards/beaglebone/blue/default.px4board | 2 +- boards/cuav/nora/default.px4board | 2 +- boards/cuav/x7pro/default.px4board | 2 +- boards/cubepilot/cubeorange/default.px4board | 2 +- boards/cubepilot/cubeorangeplus/default.px4board | 2 +- boards/cubepilot/cubeyellow/default.px4board | 2 +- boards/emlid/navio2/default.px4board | 2 +- boards/holybro/durandal-v1/default.px4board | 2 +- boards/holybro/kakuteh7/default.px4board | 2 +- boards/holybro/kakuteh7mini/default.px4board | 2 +- boards/holybro/kakuteh7v2/default.px4board | 2 +- boards/holybro/pix32v5/default.px4board | 2 +- boards/matek/h743-mini/default.px4board | 2 +- boards/matek/h743-slim/default.px4board | 2 +- boards/matek/h743/default.px4board | 2 +- boards/modalai/fc-v1/default.px4board | 2 +- boards/modalai/fc-v2/default.px4board | 2 +- boards/mro/ctrl-zero-classic/default.px4board | 2 +- boards/mro/ctrl-zero-f7-oem/default.px4board | 2 +- boards/mro/ctrl-zero-f7/default.px4board | 2 +- boards/mro/ctrl-zero-h7-oem/default.px4board | 2 +- boards/mro/ctrl-zero-h7/default.px4board | 2 +- boards/mro/pixracerpro/default.px4board | 2 +- boards/mro/x21-777/default.px4board | 2 +- boards/mro/x21/default.px4board | 2 +- boards/nxp/fmuk66-e/default.px4board | 2 +- boards/nxp/fmuk66-v3/default.px4board | 2 +- boards/nxp/mr-canhubk3/fmu.px4board | 2 +- boards/nxp/mr-canhubk3/sysview.px4board | 2 +- boards/px4/fmu-v2/fixedwing.px4board | 2 +- boards/px4/fmu-v3/default.px4board | 2 +- boards/px4/fmu-v4/default.px4board | 2 +- boards/px4/fmu-v4pro/default.px4board | 2 +- boards/px4/fmu-v5/default.px4board | 2 +- boards/px4/fmu-v5/protected.px4board | 2 +- boards/px4/fmu-v5x/default.px4board | 2 +- boards/px4/fmu-v6c/default.px4board | 2 +- boards/px4/fmu-v6u/default.px4board | 2 +- boards/px4/fmu-v6x/default.px4board | 2 +- boards/px4/raspberrypi/default.px4board | 2 +- boards/px4/sitl/default.px4board | 2 +- boards/scumaker/pilotpi/default.px4board | 2 +- boards/sky-drones/smartap-airlink/default.px4board | 2 +- boards/thepeach/k1/default.px4board | 2 +- boards/thepeach/r1/default.px4board | 2 +- posix-configs/SITL/init/test/test_shutdown | 6 +++--- posix-configs/bbblue/px4_fw.config | 2 +- posix-configs/rpi/pilotpi_fw.config | 2 +- posix-configs/rpi/px4_fw.config | 2 +- src/modules/fw_path_navigation/Kconfig | 12 ------------ .../CMakeLists.txt | 6 +++--- .../FixedwingPositionControl.cpp | 6 +++--- .../FixedwingPositionControl.hpp | 5 ++--- src/modules/fw_pos_control/Kconfig | 12 ++++++++++++ .../fw_path_navigation_params.c | 0 .../launchdetection/CMakeLists.txt | 0 .../launchdetection/LaunchDetector.cpp | 0 .../launchdetection/LaunchDetector.h | 0 .../launchdetection/launchdetection_params.c | 0 .../runway_takeoff/CMakeLists.txt | 0 .../runway_takeoff/RunwayTakeoff.cpp | 0 .../runway_takeoff/RunwayTakeoff.h | 0 .../runway_takeoff/runway_takeoff_params.c | 0 68 files changed, 76 insertions(+), 77 deletions(-) delete mode 100644 src/modules/fw_path_navigation/Kconfig rename src/modules/{fw_path_navigation => fw_pos_control}/CMakeLists.txt (96%) rename src/modules/{fw_path_navigation => fw_pos_control}/FixedwingPositionControl.cpp (99%) rename src/modules/{fw_path_navigation => fw_pos_control}/FixedwingPositionControl.hpp (99%) create mode 100644 src/modules/fw_pos_control/Kconfig rename src/modules/{fw_path_navigation => fw_pos_control}/fw_path_navigation_params.c (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/launchdetection/CMakeLists.txt (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/launchdetection/LaunchDetector.cpp (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/launchdetection/LaunchDetector.h (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/launchdetection/launchdetection_params.c (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/runway_takeoff/CMakeLists.txt (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/runway_takeoff/RunwayTakeoff.cpp (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/runway_takeoff/RunwayTakeoff.h (100%) rename src/modules/{fw_path_navigation => fw_pos_control}/runway_takeoff/runway_takeoff_params.c (100%) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index 4da8b7b757ca..f3c559298e8c 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -20,7 +20,7 @@ control_allocator start # fw_rate_control start fw_att_control start -fw_path_navigation start +fw_pos_control start airspeed_selector start # diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps index 3aab9459bc64..fdc16af83dc5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps @@ -37,7 +37,7 @@ fi fw_rate_control start vtol fw_att_control start vtol -fw_path_navigation start vtol +fw_pos_control start vtol fw_autotune_attitude_control start vtol # Start Land Detector diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index a55b54533855..a95ace078958 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board index 2ac125ba3a0b..10c555730ae9 100644 --- a/boards/ark/fmu-v6x/default.px4board +++ b/boards/ark/fmu-v6x/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board index d3284223fd54..9336bc795059 100644 --- a/boards/av/x-v1/default.px4board +++ b/boards/av/x-v1/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index be5f802bbb4c..24fd8bcbea29 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -31,7 +31,7 @@ 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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index bd3172a2838d..7327364f6bff 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index c6c4d4bdb9de..07441e1289a9 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index 89848f85230e..251e4ed171a1 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cubepilot/cubeorangeplus/default.px4board b/boards/cubepilot/cubeorangeplus/default.px4board index f8442ceba8a5..565a322a1a2b 100644 --- a/boards/cubepilot/cubeorangeplus/default.px4board +++ b/boards/cubepilot/cubeorangeplus/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board index 726c2973658e..45cf93a38d95 100644 --- a/boards/cubepilot/cubeyellow/default.px4board +++ b/boards/cubepilot/cubeyellow/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index 0773fe9f88b2..b71e01bb67ee 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index 654787e28b4b..60da95de9f38 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index 5004769ffe80..3a4f43394b93 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/kakuteh7mini/default.px4board b/boards/holybro/kakuteh7mini/default.px4board index 36240ff734c6..c21baa48ddfe 100644 --- a/boards/holybro/kakuteh7mini/default.px4board +++ b/boards/holybro/kakuteh7mini/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/kakuteh7v2/default.px4board b/boards/holybro/kakuteh7v2/default.px4board index d5f04d1085e2..9eb7a9d1c701 100644 --- a/boards/holybro/kakuteh7v2/default.px4board +++ b/boards/holybro/kakuteh7v2/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board index 53431aa9ffea..45bd43ee4f4d 100644 --- a/boards/holybro/pix32v5/default.px4board +++ b/boards/holybro/pix32v5/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/matek/h743-mini/default.px4board b/boards/matek/h743-mini/default.px4board index d7220fee7125..74c0bbedd87c 100644 --- a/boards/matek/h743-mini/default.px4board +++ b/boards/matek/h743-mini/default.px4board @@ -29,7 +29,7 @@ CONFIG_MODULES_EKF2=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board index 491c3e384693..434dd951e966 100644 --- a/boards/matek/h743-slim/default.px4board +++ b/boards/matek/h743-slim/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/matek/h743/default.px4board b/boards/matek/h743/default.px4board index 82b5cff455b7..00f19d7b6072 100644 --- a/boards/matek/h743/default.px4board +++ b/boards/matek/h743/default.px4board @@ -31,7 +31,7 @@ CONFIG_MODULES_EKF2=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index 5f0d51c5985c..49407d1fe9bf 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index abd1648d34f9..ef805e202931 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board index 59b9783d709b..41e4e1d80c11 100644 --- a/boards/mro/ctrl-zero-classic/default.px4board +++ b/boards/mro/ctrl-zero-classic/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board index 4f958f4c33b6..b0701855bf22 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.px4board +++ b/boards/mro/ctrl-zero-f7-oem/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board index 53f767882b72..074a4f2ca052 100644 --- a/boards/mro/ctrl-zero-f7/default.px4board +++ b/boards/mro/ctrl-zero-f7/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index bc6afa3a0072..082020d677b7 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index 5a58633109fe..440e5136b3ef 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index 3c6d0c249bfe..189e4039f1bd 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index b553fadd3000..5a51a776dde0 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board index 51bd2070bdf8..7c206260016f 100644 --- a/boards/mro/x21/default.px4board +++ b/boards/mro/x21/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index 53ed5271ae5d..9fbf2c4158d4 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index 65bd96098efd..b6caac97b526 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/nxp/mr-canhubk3/fmu.px4board b/boards/nxp/mr-canhubk3/fmu.px4board index e8f3d264cc9b..c85a77330d01 100644 --- a/boards/nxp/mr-canhubk3/fmu.px4board +++ b/boards/nxp/mr-canhubk3/fmu.px4board @@ -22,7 +22,7 @@ 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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/nxp/mr-canhubk3/sysview.px4board b/boards/nxp/mr-canhubk3/sysview.px4board index feafdf2b9aad..d190234fcbdb 100644 --- a/boards/nxp/mr-canhubk3/sysview.px4board +++ b/boards/nxp/mr-canhubk3/sysview.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y diff --git a/boards/px4/fmu-v2/fixedwing.px4board b/boards/px4/fmu-v2/fixedwing.px4board index 39b641ce61ce..0bde0c7e0768 100644 --- a/boards/px4/fmu-v2/fixedwing.px4board +++ b/boards/px4/fmu-v2/fixedwing.px4board @@ -8,5 +8,5 @@ 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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index 9b868eea8f31..1d142b779cd8 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index e81370562e38..abefac1ef62a 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index 18e1933c8115..3a45e28eb0cb 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index 2e160e1f0798..72845b8a7162 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -54,7 +54,7 @@ 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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v5/protected.px4board b/boards/px4/fmu-v5/protected.px4board index 147c729b1126..de913d6ac8f2 100644 --- a/boards/px4/fmu-v5/protected.px4board +++ b/boards/px4/fmu-v5/protected.px4board @@ -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_PATH_NAVIGATION=n +CONFIG_MODULES_FW_POS_CONTROL=n CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index 2be36f8fb010..6484d2a8fd66 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board index 5051db9c2ac6..51568a1956df 100644 --- a/boards/px4/fmu-v6c/default.px4board +++ b/boards/px4/fmu-v6c/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index bb6f599f490b..e63885a326fe 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index dab4ca6ff5e1..e381d2dca332 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index 1f93c77beb0d..3e059cffe7d8 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board index f85f30f424bf..5d14406816de 100644 --- a/boards/px4/sitl/default.px4board +++ b/boards/px4/sitl/default.px4board @@ -17,7 +17,7 @@ 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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index ca284cc29e03..52b20aaa01bb 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board index d161d6184dcd..552d998974fb 100644 --- a/boards/sky-drones/smartap-airlink/default.px4board +++ b/boards/sky-drones/smartap-airlink/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/thepeach/k1/default.px4board b/boards/thepeach/k1/default.px4board index 3ad12d0f15e6..b2c6588f98b2 100644 --- a/boards/thepeach/k1/default.px4board +++ b/boards/thepeach/k1/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/boards/thepeach/r1/default.px4board b/boards/thepeach/r1/default.px4board index 3ad12d0f15e6..b2c6588f98b2 100644 --- a/boards/thepeach/r1/default.px4board +++ b/boards/thepeach/r1/default.px4board @@ -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_PATH_NAVIGATION=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y diff --git a/posix-configs/SITL/init/test/test_shutdown b/posix-configs/SITL/init/test/test_shutdown index 6e604967768f..b452595732cb 100644 --- a/posix-configs/SITL/init/test/test_shutdown +++ b/posix-configs/SITL/init/test/test_shutdown @@ -29,7 +29,7 @@ flight_mode_manager start mc_pos_control start vtol mc_att_control start vtol mc_rate_control start vtol -fw_path_navigation start vtol +fw_pos_control start vtol fw_att_control start vtol airspeed_selector start @@ -59,7 +59,7 @@ flight_mode_manager status mc_pos_control status mc_att_control status mc_rate_control status -fw_path_navigation status +fw_pos_control status fw_att_control status airspeed_selector status dataman status @@ -74,7 +74,7 @@ mc_att_control stop fw_att_control stop flight_mode_manager stop mc_pos_control stop -fw_path_navigation stop +fw_pos_control stop navigator stop commander stop land_detector stop diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config index 0a71683c6196..d6ba875fde14 100644 --- a/posix-configs/bbblue/px4_fw.config +++ b/posix-configs/bbblue/px4_fw.config @@ -56,7 +56,7 @@ ekf2 start land_detector start fixedwing fw_att_control start -fw_path_navigation start +fw_pos_control start mavlink start -n SoftAp -x -u 14556 -r 1000000 -p # -n name of wifi interface: SoftAp, wlan or your custom interface, diff --git a/posix-configs/rpi/pilotpi_fw.config b/posix-configs/rpi/pilotpi_fw.config index 1ee5e6193910..a4fdf0f6fdb6 100644 --- a/posix-configs/rpi/pilotpi_fw.config +++ b/posix-configs/rpi/pilotpi_fw.config @@ -63,7 +63,7 @@ airspeed_selector start land_detector start fixedwing flight_mode_manager start fw_att_control start -fw_path_navigation start +fw_pos_control start mavlink start -x -u 14556 -r 1000000 -p diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config index 468ff8a9d9f7..55d8d9cfd997 100644 --- a/posix-configs/rpi/px4_fw.config +++ b/posix-configs/rpi/px4_fw.config @@ -41,7 +41,7 @@ navigator start ekf2 start land_detector start fixedwing fw_att_control start -fw_path_navigation start +fw_pos_control start mavlink start -x -u 14556 -r 1000000 -p diff --git a/src/modules/fw_path_navigation/Kconfig b/src/modules/fw_path_navigation/Kconfig deleted file mode 100644 index 7a7fbde149f3..000000000000 --- a/src/modules/fw_path_navigation/Kconfig +++ /dev/null @@ -1,12 +0,0 @@ -menuconfig MODULES_FW_PATH_NAVIGATION - bool "fw_path_navigation" - default n - ---help--- - Enable support for fw_path_navigation - -menuconfig USER_FW_PATH_NAVIGATION - bool "fw_path_navigation running as userspace module" - default n - depends on BOARD_PROTECTED && MODULES_FW_PATH_NAVIGATION - ---help--- - Put fw_path_navigation in userspace memory diff --git a/src/modules/fw_path_navigation/CMakeLists.txt b/src/modules/fw_pos_control/CMakeLists.txt similarity index 96% rename from src/modules/fw_path_navigation/CMakeLists.txt rename to src/modules/fw_pos_control/CMakeLists.txt index c42df6ca989e..4e63f0b5644c 100644 --- a/src/modules/fw_path_navigation/CMakeLists.txt +++ b/src/modules/fw_pos_control/CMakeLists.txt @@ -35,14 +35,14 @@ add_subdirectory(launchdetection) add_subdirectory(runway_takeoff) px4_add_module( - MODULE modules__fw_path_navigation - MAIN fw_path_navigation + MODULE modules__fw_pos_control + MAIN fw_pos_control SRCS FixedwingPositionControl.cpp FixedwingPositionControl.hpp DEPENDS launchdetection - npfg + npfg runway_takeoff SlewRate tecs diff --git a/src/modules/fw_path_navigation/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp similarity index 99% rename from src/modules/fw_path_navigation/FixedwingPositionControl.cpp rename to src/modules/fw_pos_control/FixedwingPositionControl.cpp index 9fa4832ae802..e3ed30018f3d 100644 --- a/src/modules/fw_path_navigation/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -2978,11 +2978,11 @@ int FixedwingPositionControl::print_usage(const char *reason) PRINT_MODULE_DESCRIPTION( R"DESCR_STR( ### Description -fw_path_navigation is the fixed wing path navigation. +fw_pos_control is the fixed-wing position controller. )DESCR_STR"); - PRINT_MODULE_USAGE_NAME("fw_path_navigation", "controller"); + PRINT_MODULE_USAGE_NAME("fw_pos_control", "controller"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_ARG("vtol", "VTOL mode", true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); @@ -2990,7 +2990,7 @@ fw_path_navigation is the fixed wing path navigation. return 0; } -extern "C" __EXPORT int fw_path_navigation_main(int argc, char *argv[]) +extern "C" __EXPORT int fw_pos_control_main(int argc, char *argv[]) { return FixedwingPositionControl::main(argc, argv); } diff --git a/src/modules/fw_path_navigation/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp similarity index 99% rename from src/modules/fw_path_navigation/FixedwingPositionControl.hpp rename to src/modules/fw_pos_control/FixedwingPositionControl.hpp index c67e1a5d06c8..fe4e6aa58061 100644 --- a/src/modules/fw_path_navigation/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp @@ -33,9 +33,8 @@ /** - * @file fw_path_navigation_main.hpp - * Implementation of a generic path navigation. Outputs a bank / roll - * angle, equivalent to a lateral motion (for copters and rovers). + * @file fw_pos_control_main.hpp + * Implementation of various fixed-wing position level navigation/control modes. * * The implementation for the controllers is in a separate library. This class only * interfaces to the library. diff --git a/src/modules/fw_pos_control/Kconfig b/src/modules/fw_pos_control/Kconfig new file mode 100644 index 000000000000..be700fb19107 --- /dev/null +++ b/src/modules/fw_pos_control/Kconfig @@ -0,0 +1,12 @@ +menuconfig MODULES_FW_POS_CONTROL + bool "fw_pos_control" + default n + ---help--- + Enable support for fw_pos_control + +menuconfig USER_FW_POS_CONTROL + bool "fw_pos_control running as userspace module" + default n + depends on BOARD_PROTECTED && MODULES_FW_POS_CONTROL + ---help--- + Put fw_pos_control in userspace memory diff --git a/src/modules/fw_path_navigation/fw_path_navigation_params.c b/src/modules/fw_pos_control/fw_path_navigation_params.c similarity index 100% rename from src/modules/fw_path_navigation/fw_path_navigation_params.c rename to src/modules/fw_pos_control/fw_path_navigation_params.c diff --git a/src/modules/fw_path_navigation/launchdetection/CMakeLists.txt b/src/modules/fw_pos_control/launchdetection/CMakeLists.txt similarity index 100% rename from src/modules/fw_path_navigation/launchdetection/CMakeLists.txt rename to src/modules/fw_pos_control/launchdetection/CMakeLists.txt diff --git a/src/modules/fw_path_navigation/launchdetection/LaunchDetector.cpp b/src/modules/fw_pos_control/launchdetection/LaunchDetector.cpp similarity index 100% rename from src/modules/fw_path_navigation/launchdetection/LaunchDetector.cpp rename to src/modules/fw_pos_control/launchdetection/LaunchDetector.cpp diff --git a/src/modules/fw_path_navigation/launchdetection/LaunchDetector.h b/src/modules/fw_pos_control/launchdetection/LaunchDetector.h similarity index 100% rename from src/modules/fw_path_navigation/launchdetection/LaunchDetector.h rename to src/modules/fw_pos_control/launchdetection/LaunchDetector.h diff --git a/src/modules/fw_path_navigation/launchdetection/launchdetection_params.c b/src/modules/fw_pos_control/launchdetection/launchdetection_params.c similarity index 100% rename from src/modules/fw_path_navigation/launchdetection/launchdetection_params.c rename to src/modules/fw_pos_control/launchdetection/launchdetection_params.c diff --git a/src/modules/fw_path_navigation/runway_takeoff/CMakeLists.txt b/src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt similarity index 100% rename from src/modules/fw_path_navigation/runway_takeoff/CMakeLists.txt rename to src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt diff --git a/src/modules/fw_path_navigation/runway_takeoff/RunwayTakeoff.cpp b/src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp similarity index 100% rename from src/modules/fw_path_navigation/runway_takeoff/RunwayTakeoff.cpp rename to src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp diff --git a/src/modules/fw_path_navigation/runway_takeoff/RunwayTakeoff.h b/src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.h similarity index 100% rename from src/modules/fw_path_navigation/runway_takeoff/RunwayTakeoff.h rename to src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.h diff --git a/src/modules/fw_path_navigation/runway_takeoff/runway_takeoff_params.c b/src/modules/fw_pos_control/runway_takeoff/runway_takeoff_params.c similarity index 100% rename from src/modules/fw_path_navigation/runway_takeoff/runway_takeoff_params.c rename to src/modules/fw_pos_control/runway_takeoff/runway_takeoff_params.c