Separate vehicle specific actuator effectiveness

Keep actuator effectivenss in control allocator
PX4 · Jan 10, 2025 · dac5ae0 · dac5ae0
1 parent a164aa7
commit dac5ae0
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Showing 33 changed files with 57 additions and 45 deletions.
diff --git 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
@@ -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/.../ActuatorEffectivenessControlSurfaces.cpp → .../ActuatorEffectivenessControlSurfaces.cpp b/.../ActuatorEffectivenessControlSurfaces.cpp → .../ActuatorEffectivenessControlSurfaces.cpp
diff --git a/.../ActuatorEffectivenessControlSurfaces.hpp → .../ActuatorEffectivenessControlSurfaces.hpp b/.../ActuatorEffectivenessControlSurfaces.hpp → .../ActuatorEffectivenessControlSurfaces.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <lib/slew_rate/SlewRate.hpp>

diff --git a/...ctiveness/ActuatorEffectivenessCustom.cpp → ...ctiveness/ActuatorEffectivenessCustom.cpp b/...ctiveness/ActuatorEffectivenessCustom.cpp → ...ctiveness/ActuatorEffectivenessCustom.cpp
diff --git a/...ctiveness/ActuatorEffectivenessCustom.hpp → ...ctiveness/ActuatorEffectivenessCustom.hpp b/...ctiveness/ActuatorEffectivenessCustom.hpp → ...ctiveness/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/...veness/ActuatorEffectivenessFixedWing.cpp → ...veness/ActuatorEffectivenessFixedWing.cpp b/...veness/ActuatorEffectivenessFixedWing.cpp → ...veness/ActuatorEffectivenessFixedWing.cpp
diff --git a/...veness/ActuatorEffectivenessFixedWing.hpp → ...veness/ActuatorEffectivenessFixedWing.hpp b/...veness/ActuatorEffectivenessFixedWing.hpp → ...veness/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/...eness/ActuatorEffectivenessHelicopter.cpp → ...eness/ActuatorEffectivenessHelicopter.cpp b/...eness/ActuatorEffectivenessHelicopter.cpp → ...eness/ActuatorEffectivenessHelicopter.cpp
diff --git a/...eness/ActuatorEffectivenessHelicopter.hpp → ...eness/ActuatorEffectivenessHelicopter.hpp b/...eness/ActuatorEffectivenessHelicopter.hpp → ...eness/ActuatorEffectivenessHelicopter.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

diff --git a/...ctuatorEffectivenessHelicopterCoaxial.cpp → ...ctuatorEffectivenessHelicopterCoaxial.cpp b/...ctuatorEffectivenessHelicopterCoaxial.cpp → ...ctuatorEffectivenessHelicopterCoaxial.cpp
diff --git a/...ctuatorEffectivenessHelicopterCoaxial.hpp → ...ctuatorEffectivenessHelicopterCoaxial.hpp b/...ctuatorEffectivenessHelicopterCoaxial.hpp → ...ctuatorEffectivenessHelicopterCoaxial.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

diff --git a/...s/ActuatorEffectivenessHelicopterTest.cpp → ...s/ActuatorEffectivenessHelicopterTest.cpp b/...s/ActuatorEffectivenessHelicopterTest.cpp → ...s/ActuatorEffectivenessHelicopterTest.cpp
diff --git a/...ctiveness/ActuatorEffectivenessMCTilt.cpp → ...ctiveness/ActuatorEffectivenessMCTilt.cpp b/...ctiveness/ActuatorEffectivenessMCTilt.cpp → ...ctiveness/ActuatorEffectivenessMCTilt.cpp
diff --git a/...ctiveness/ActuatorEffectivenessMCTilt.hpp → ...ctiveness/ActuatorEffectivenessMCTilt.hpp b/...ctiveness/ActuatorEffectivenessMCTilt.hpp → ...ctiveness/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/...eness/ActuatorEffectivenessMultirotor.cpp → ...eness/ActuatorEffectivenessMultirotor.cpp b/...eness/ActuatorEffectivenessMultirotor.cpp → ...eness/ActuatorEffectivenessMultirotor.cpp
diff --git a/...eness/ActuatorEffectivenessMultirotor.hpp → ...eness/ActuatorEffectivenessMultirotor.hpp b/...eness/ActuatorEffectivenessMultirotor.hpp → ...eness/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/...ctiveness/ActuatorEffectivenessRotors.cpp → ...ctiveness/ActuatorEffectivenessRotors.cpp b/...ctiveness/ActuatorEffectivenessRotors.cpp → ...ctiveness/ActuatorEffectivenessRotors.cpp
diff --git a/...ctiveness/ActuatorEffectivenessRotors.hpp → ...ctiveness/ActuatorEffectivenessRotors.hpp b/...ctiveness/ActuatorEffectivenessRotors.hpp → ...ctiveness/ActuatorEffectivenessRotors.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>

diff --git a/...eness/ActuatorEffectivenessRotorsTest.cpp → ...eness/ActuatorEffectivenessRotorsTest.cpp b/...eness/ActuatorEffectivenessRotorsTest.cpp → ...eness/ActuatorEffectivenessRotorsTest.cpp
diff --git a/...s/ActuatorEffectivenessRoverAckermann.cpp → ...s/ActuatorEffectivenessRoverAckermann.cpp b/...s/ActuatorEffectivenessRoverAckermann.cpp → ...s/ActuatorEffectivenessRoverAckermann.cpp
diff --git a/...s/ActuatorEffectivenessRoverAckermann.hpp → ...s/ActuatorEffectivenessRoverAckermann.hpp b/...s/ActuatorEffectivenessRoverAckermann.hpp → ...s/ActuatorEffectivenessRoverAckermann.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ActuatorEffectivenessRoverAckermann : public ActuatorEffectiveness
 {

diff --git a/...ess/ActuatorEffectivenessStandardVTOL.cpp → ...ess/ActuatorEffectivenessStandardVTOL.cpp b/...ess/ActuatorEffectivenessStandardVTOL.cpp → ...ess/ActuatorEffectivenessStandardVTOL.cpp
diff --git a/...ess/ActuatorEffectivenessStandardVTOL.hpp → ...ess/ActuatorEffectivenessStandardVTOL.hpp b/...ess/ActuatorEffectivenessStandardVTOL.hpp → ...ess/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/...s/ActuatorEffectivenessTailsitterVTOL.cpp → ...s/ActuatorEffectivenessTailsitterVTOL.cpp b/...s/ActuatorEffectivenessTailsitterVTOL.cpp → ...s/ActuatorEffectivenessTailsitterVTOL.cpp
diff --git a/...s/ActuatorEffectivenessTailsitterVTOL.hpp → ...s/ActuatorEffectivenessTailsitterVTOL.hpp b/...s/ActuatorEffectivenessTailsitterVTOL.hpp → ...s/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/...ss/ActuatorEffectivenessTiltrotorVTOL.cpp → ...ss/ActuatorEffectivenessTiltrotorVTOL.cpp b/...ss/ActuatorEffectivenessTiltrotorVTOL.cpp → ...ss/ActuatorEffectivenessTiltrotorVTOL.cpp
diff --git a/...ss/ActuatorEffectivenessTiltrotorVTOL.hpp → ...ss/ActuatorEffectivenessTiltrotorVTOL.hpp b/...ss/ActuatorEffectivenessTiltrotorVTOL.hpp → ...ss/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/...ectiveness/ActuatorEffectivenessTilts.cpp → ...ectiveness/ActuatorEffectivenessTilts.cpp b/...ectiveness/ActuatorEffectivenessTilts.cpp → ...ectiveness/ActuatorEffectivenessTilts.cpp
diff --git a/...ectiveness/ActuatorEffectivenessTilts.hpp → ...ectiveness/ActuatorEffectivenessTilts.hpp b/...ectiveness/ActuatorEffectivenessTilts.hpp → ...ectiveness/ActuatorEffectivenessTilts.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 #include <px4_platform_common/module_params.h>

diff --git a/...ffectiveness/ActuatorEffectivenessUUV.cpp → ...ffectiveness/ActuatorEffectivenessUUV.cpp b/...ffectiveness/ActuatorEffectivenessUUV.cpp → ...ffectiveness/ActuatorEffectivenessUUV.cpp
diff --git a/...ffectiveness/ActuatorEffectivenessUUV.hpp → ...ffectiveness/ActuatorEffectivenessUUV.hpp b/...ffectiveness/ActuatorEffectivenessUUV.hpp → ...ffectiveness/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
@@ -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)