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create mc_rate_control (split out of mc_att_control)
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@dagar
dagar committed Oct 25, 2019
1 parent 9e309f6 commit 01670db
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Showing 80 changed files with 1,228 additions and 771 deletions.
5 changes: 5 additions & 0 deletions ROMFS/px4fmu_common/init.d/rc.mc_apps
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Expand Up @@ -48,6 +48,11 @@ fi
# End Estimator Group Selection #
###############################################################################

#
# Start Multicopter Rate Controller.
#
mc_rate_control start

#
# Start Multicopter Attitude Controller.
#
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/rc.vtol_apps
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Expand Up @@ -17,6 +17,7 @@ ekf2 start


vtol_att_control start
mc_rate_control start
mc_att_control start
mc_pos_control start
fw_att_control start
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2 changes: 1 addition & 1 deletion Tools/uorb_graph/create.py
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Expand Up @@ -244,7 +244,7 @@ def __init__(self, module_whitelist=[], topic_blacklist=[]):

('mc_pos_control', r'mc_pos_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),

('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
('mc_rate_control', r'MulticopterRateControl\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
('mc_att_control', r'mc_att_control_main\.cpp$', r'\_attitude_sp_id=([^,)]+)', r'^_attitude_sp_id$'),

('fw_att_control', r'FixedwingAttitudeControl\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
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1 change: 1 addition & 0 deletions boards/aerotenna/ocpoc/ubuntu.cmake
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Expand Up @@ -45,6 +45,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/airmind/mindpx-v2/default.cmake
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Expand Up @@ -63,6 +63,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/atlflight/eagle/default.cmake
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Expand Up @@ -80,6 +80,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
sensors
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1 change: 1 addition & 0 deletions boards/atlflight/eagle/qurt-default.cmake
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Expand Up @@ -71,6 +71,7 @@ px4_add_board(
landing_target_estimator
local_position_estimator
mc_att_control
mc_rate_control
mc_pos_control
sensors
#sih
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1 change: 1 addition & 0 deletions boards/atlflight/excelsior/default.cmake
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Expand Up @@ -80,6 +80,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
sensors
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1 change: 1 addition & 0 deletions boards/atlflight/excelsior/qurt-default.cmake
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Expand Up @@ -71,6 +71,7 @@ px4_add_board(
landing_target_estimator
local_position_estimator
mc_att_control
mc_rate_control
mc_pos_control
sensors
sih
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1 change: 1 addition & 0 deletions boards/auav/x21/default.cmake
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Expand Up @@ -68,6 +68,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/av/x-v1/default.cmake
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Expand Up @@ -69,6 +69,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/beaglebone/blue/cross.cmake
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Expand Up @@ -44,6 +44,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/beaglebone/blue/native.cmake
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Expand Up @@ -42,6 +42,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/bitcraze/crazyflie/default.cmake
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Expand Up @@ -32,6 +32,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
sensors
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1 change: 1 addition & 0 deletions boards/emlid/navio2/cross.cmake
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Expand Up @@ -48,6 +48,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/emlid/navio2/native.cmake
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Expand Up @@ -46,6 +46,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/holybro/kakutef7/default.cmake
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Expand Up @@ -42,6 +42,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/intel/aerofc-v1/default.cmake
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Expand Up @@ -48,6 +48,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/intel/aerofc-v1/rtps.cmake
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Expand Up @@ -51,6 +51,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
micrortps_bridge
navigator
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1 change: 1 addition & 0 deletions boards/modalai/fc-v1/default.cmake
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Expand Up @@ -71,6 +71,7 @@ px4_add_board(
mavlink
mc_att_control
mc_pos_control
mc_rate_control
navigator
rover_pos_control
sensors
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1 change: 1 addition & 0 deletions boards/mro/ctrl-zero-f7/default.cmake
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Expand Up @@ -72,6 +72,7 @@ px4_add_board(
mavlink
mc_att_control
mc_pos_control
mc_rate_control
navigator
battery_status
sensors
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1 change: 1 addition & 0 deletions boards/nxp/fmuk66-v3/default.cmake
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Expand Up @@ -67,6 +67,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/omnibus/f4sd/default.cmake
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Expand Up @@ -59,6 +59,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/parrot/bebop/default.cmake
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Expand Up @@ -36,6 +36,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
sensors
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1 change: 1 addition & 0 deletions boards/px4/fmu-v2/default.cmake
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Expand Up @@ -78,6 +78,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v2/lpe.cmake
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Expand Up @@ -74,6 +74,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v2/multicopter.cmake
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Expand Up @@ -52,6 +52,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v2/test.cmake
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Expand Up @@ -74,6 +74,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v3/default.cmake
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Expand Up @@ -77,6 +77,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v3/rtps.cmake
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Expand Up @@ -75,6 +75,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
micrortps_bridge
navigator
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1 change: 1 addition & 0 deletions boards/px4/fmu-v3/stackcheck.cmake
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Expand Up @@ -75,6 +75,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v4/default.cmake
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Expand Up @@ -64,6 +64,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
rover_pos_control
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1 change: 1 addition & 0 deletions boards/px4/fmu-v4/rtps.cmake
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Expand Up @@ -64,6 +64,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
micrortps_bridge
navigator
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1 change: 1 addition & 0 deletions boards/px4/fmu-v4/stackcheck.cmake
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Expand Up @@ -62,6 +62,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v4pro/default.cmake
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Expand Up @@ -74,6 +74,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v4pro/rtps.cmake
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Expand Up @@ -73,6 +73,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
micrortps_bridge
navigator
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1 change: 1 addition & 0 deletions boards/px4/fmu-v5/critmonitor.cmake
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Expand Up @@ -75,6 +75,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v5/default.cmake
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Expand Up @@ -76,6 +76,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v5/irqmonitor.cmake
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Expand Up @@ -75,6 +75,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v5/multicopter.cmake
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Expand Up @@ -60,6 +60,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/fmu-v5/rtps.cmake
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Expand Up @@ -73,6 +73,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
micrortps_bridge
navigator
Expand Down
2 changes: 2 additions & 0 deletions boards/px4/fmu-v5/stackcheck.cmake
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Expand Up @@ -42,6 +42,7 @@ px4_add_board(
mkblctrl
optical_flow # all available optical flow drivers
#pca9685
#power_monitor/ina226
#protocol_splitter
pwm_input
pwm_out_sim
Expand Down Expand Up @@ -73,6 +74,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
#micrortps_bridge
navigator
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1 change: 1 addition & 0 deletions boards/px4/fmu-v5x/default.cmake
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Expand Up @@ -74,6 +74,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
rover_pos_control
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1 change: 1 addition & 0 deletions boards/px4/raspberrypi/cross.cmake
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Expand Up @@ -41,6 +41,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/raspberrypi/native.cmake
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Expand Up @@ -39,6 +39,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
battery_status
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1 change: 1 addition & 0 deletions boards/px4/sitl/default.cmake
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Expand Up @@ -37,6 +37,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
replay
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1 change: 1 addition & 0 deletions boards/px4/sitl/rtps.cmake
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Expand Up @@ -37,6 +37,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
micrortps_bridge
navigator
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1 change: 1 addition & 0 deletions boards/px4/sitl/test.cmake
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Expand Up @@ -37,6 +37,7 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
navigator
replay
Expand Down
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