Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239)

2026-05-22 01:12:31 +00:00 · 2019-07-11 15:39:13 +02:00
parent 3743e6d8fb
commit 2ed00c9cb6
55 changed files with 297 additions and 1068 deletions
--- a/boards/aerotenna/ocpoc/ubuntu.cmake
+++ b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -37,8 +37,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -58,8 +58,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/atlflight/eagle/default.cmake
+++ b/boards/atlflight/eagle/default.cmake
@@ -72,8 +72,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/atlflight/eagle/qurt-default.cmake
+++ b/boards/atlflight/eagle/qurt-default.cmake
@@ -66,8 +66,7 @@ px4_add_board(
 		ekf2
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		local_position_estimator
--- a/boards/atlflight/excelsior/default.cmake
+++ b/boards/atlflight/excelsior/default.cmake
@@ -72,8 +72,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/atlflight/excelsior/qurt-default.cmake
+++ b/boards/atlflight/excelsior/qurt-default.cmake
@@ -66,8 +66,7 @@ px4_add_board(
 		ekf2
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		local_position_estimator
--- a/boards/auav/x21/default.cmake
+++ b/boards/auav/x21/default.cmake
@@ -64,8 +64,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -65,8 +65,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/beaglebone/blue/cross.cmake
+++ b/boards/beaglebone/blue/cross.cmake
@@ -36,8 +36,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/beaglebone/blue/native.cmake
+++ b/boards/beaglebone/blue/native.cmake
@@ -34,8 +34,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/bitcraze/crazyflie/default.cmake
+++ b/boards/bitcraze/crazyflie/default.cmake
@@ -25,8 +25,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/emlid/navio2/cross.cmake
+++ b/boards/emlid/navio2/cross.cmake
@@ -40,8 +40,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/emlid/navio2/native.cmake
+++ b/boards/emlid/navio2/native.cmake
@@ -38,8 +38,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -41,8 +41,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/intel/aerofc-v1/rtps.cmake
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -44,8 +44,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -60,8 +60,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -53,8 +53,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/parrot/bebop/default.cmake
+++ b/boards/parrot/bebop/default.cmake
@@ -28,8 +28,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@@ -73,8 +73,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		#landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v2/lpe.cmake
+++ b/boards/px4/fmu-v2/lpe.cmake
@@ -69,8 +69,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v2/rover.cmake
+++ b/boards/px4/fmu-v2/rover.cmake
@@ -42,8 +42,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		load_mon
 		logger
--- a/boards/px4/fmu-v2/test.cmake
+++ b/boards/px4/fmu-v2/test.cmake
@@ -69,8 +69,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -72,8 +72,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -71,8 +71,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v3/stackcheck.cmake
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -71,8 +71,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -56,8 +56,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -58,8 +58,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -56,8 +56,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -70,8 +70,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -69,8 +69,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -70,8 +70,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v5/rover.cmake
+++ b/boards/px4/fmu-v5/rover.cmake
@@ -53,8 +53,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		load_mon
 		logger
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -68,8 +68,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -68,8 +68,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/fmu-v5x/default.cmake
+++ b/boards/px4/fmu-v5x/default.cmake
@@ -70,8 +70,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -81,6 +79,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rover_pos_control
 		sensors
 		sih
 		vmount
--- a/boards/px4/fmu-v5x/rover.cmake
+++ b/boards/px4/fmu-v5x/rover.cmake
@@ -63,13 +63,12 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		gnd_att_control
-		gnd_pos_control
 		land_detector
 		load_mon
 		logger
 		mavlink
 		navigator
+		rover_pos_control
 		sensors
 		vmount

--- a/boards/px4/fmu-v5x/rtps.cmake
+++ b/boards/px4/fmu-v5x/rtps.cmake
@@ -70,8 +70,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -82,6 +80,7 @@ px4_add_board(
 		mc_pos_control
 		micrortps_bridge
 		navigator
+		rover_pos_control
 		sensors
 		sih
 		vmount
--- a/boards/px4/fmu-v5x/stackcheck.cmake
+++ b/boards/px4/fmu-v5x/stackcheck.cmake
@@ -70,8 +70,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -81,6 +79,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rover_pos_control
 		sensors
 		sih
 		vmount
--- a/boards/px4/raspberrypi/cross.cmake
+++ b/boards/px4/raspberrypi/cross.cmake
@@ -33,8 +33,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/raspberrypi/native.cmake
+++ b/boards/px4/raspberrypi/native.cmake
@@ -31,8 +31,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -30,8 +30,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -30,8 +30,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -30,8 +30,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon