Rename AirspeedReferenceController to AirspeedDirectionController

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

Author: sfuhrer

…lib/npfg/AirspeedReferenceController.cpp …lib/npfg/AirspeedDirectionController.cppsrc/lib/npfg/AirspeedReferenceController.cpp renamed to src/lib/npfg/AirspeedDirectionController.cpp src/lib/npfg/AirspeedReferenceController.cpp renamed to src/lib/npfg/AirspeedDirectionController.cpp

@@ -31,17 +31,17 @@
  *
  ****************************************************************************/
 
-#include "AirspeedReferenceController.hpp"
+#include "AirspeedDirectionController.hpp"
 #include <matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>
 
 using matrix::Vector2f;
-AirspeedReferenceController::AirspeedReferenceController()
+AirspeedDirectionController::AirspeedDirectionController()
 {
 	// Constructor
 }
 
-float AirspeedReferenceController::controlHeading(const float heading_sp, const float heading,
+float AirspeedDirectionController::controlHeading(const float heading_sp, const float heading,
 		const float airspeed) const
 {
 

…lib/npfg/AirspeedReferenceController.hpp …lib/npfg/AirspeedDirectionController.hppsrc/lib/npfg/AirspeedReferenceController.hpp renamed to src/lib/npfg/AirspeedDirectionController.hpp src/lib/npfg/AirspeedReferenceController.hpp renamed to src/lib/npfg/AirspeedDirectionController.hpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /*
- * @file AirspeedRefController.hpp
+ * @file AirspeedDirectionController.hpp
  *
  * Original Author:  Thomas Stastny <tstastny@ethz.ch>
  * Refactored to better suite new control API: Roman Bapst <roman@auterion.com>
@@ -56,14 +56,14 @@
  *     https://tstastny.github.io/pdf/tstastny_phd_thesis_wcover.pdf
  */
 
-#ifndef PX4_AIRSPEEDREFERENCECONTROLLER_HPP
-#define PX4_AIRSPEEDREFERENCECONTROLLER_HPP
+#ifndef PX4_AIRSPEEDDIRECTIONONTROLLER_HPP
+#define PX4_AIRSPEEDDIRECTIONONTROLLER_HPP
 
-class AirspeedReferenceController
+class AirspeedDirectionController
 {
 public:
 
-	AirspeedReferenceController();
+	AirspeedDirectionController();
 
 
 	float controlHeading(const float heading_sp, const float heading, const float airspeed) const;
@@ -72,4 +72,4 @@ class AirspeedReferenceController
 	float p_gain_{0.8885f}; // proportional gain (computed from period_ and damping_) [rad/s]
 };
 
-#endif //PX4_AIRSPEEDREFERENCECONTROLLER_HPP
+#endif //PX4_AIRSPEEDDIRECTIONONTROLLER_HPP

src/lib/npfg/CMakeLists.txt

@@ -34,10 +34,10 @@
 px4_add_library(npfg
 	DirectionalGuidance.cpp
 	CourseToAirspeedRefMapper.cpp
-	AirspeedReferenceController.cpp
+	AirspeedDirectionController.cpp
 	DirectionalGuidance.hpp
 	CourseToAirspeedRefMapper.hpp
-	AirspeedReferenceController.hpp
+	AirspeedDirectionController.hpp
 )
 
 target_link_libraries(npfg PRIVATE geo)

src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp

@@ -262,7 +262,7 @@ void FwLateralLongitudinalControl::Run()
 
 			if (PX4_ISFINITE(airspeed_direction_sp)) {
 				const float heading = atan2f(airspeed_vector(1), airspeed_vector(0));
-				lateral_accel_sp = _airspeed_ref_control.controlHeading(airspeed_direction_sp, heading,
+				lateral_accel_sp = _airspeed_direction_control.controlHeading(airspeed_direction_sp, heading,
 						   airspeed_vector.norm());
 			}
 

src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp

@@ -45,7 +45,7 @@
 #include <lib/geo/geo.h>
 #include <lib/atmosphere/atmosphere.h>
 #include <lib/npfg/CourseToAirspeedRefMapper.hpp>
-#include <lib/npfg/AirspeedReferenceController.hpp>
+#include <lib/npfg/AirspeedDirectionController.hpp>
 #include <lib/tecs/TECS.hpp>
 #include <lib/mathlib/mathlib.h>
 #include <lib/perf/perf_counter.h>
@@ -206,7 +206,7 @@ class FwLateralLongitudinalControl final : public ModuleBase<FwLateralLongitudin
 	PerformanceModel _performance_model;
 	TECS _tecs;
 	CourseToAirspeedRefMapper _course_to_airspeed;
-	AirspeedReferenceController _airspeed_ref_control;
+	AirspeedDirectionController _airspeed_direction_control;
 
 	float _min_airspeed_from_guidance{0.f}; // need to store it bc we only update after running longitudinal controller