RpmControl: split into cpp source file fixing includes

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt

@@ -62,6 +62,7 @@ px4_add_library(ActuatorEffectiveness
 	ActuatorEffectivenessTailsitterVTOL.hpp
 	ActuatorEffectivenessRoverAckermann.hpp
 	ActuatorEffectivenessRoverAckermann.cpp
+	RpmControl.cpp
 	RpmControl.hpp
 )
 

src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "RpmControl.hpp"
+
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+RpmControl::RpmControl(ModuleParams *parent) : ModuleParams(parent) {};
+
+void RpmControl::setSpoolupProgress(float spoolup_progress)
+{
+	_spoolup_progress = spoolup_progress;
+	_pid.setSetpoint(_spoolup_progress * _param_ca_heli_rpm_sp.get());
+
+	if (_spoolup_progress < .8f) {
+		_pid.resetIntegral();
+	}
+}
+
+float RpmControl::getActuatorCorrection()
+{
+	if (_rpm_sub.updated()) {
+		rpm_s rpm{};
+
+		if (_rpm_sub.copy(&rpm)) {
+			_rpm_estimate = rpm.rpm_estimate;
+			_timestamp_last_rpm_measurement = rpm.timestamp;
+		}
+	}
+
+	hrt_abstime now = hrt_absolute_time();
+	const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 1e-3f, 1.f);
+	_timestamp_last_update = now;
+
+	const bool rpm_measurement_timeout = (now - _timestamp_last_rpm_measurement) < 1_s;
+
+	if (rpm_measurement_timeout) {
+		const float gain_scale = math::max((_spoolup_progress - .8f) * 5.f, 0.f) * 1e-3f;
+		_pid.setGains(_param_ca_heli_rpm_p.get() * gain_scale, _param_ca_heli_rpm_i.get() * gain_scale, 0.f);
+
+	} else {
+		_pid.setGains(0.f, 0.f, 0.f);
+	}
+
+	_pid.setOutputLimit(.5f);
+	_pid.setIntegralLimit(.5f);
+
+	float output = _pid.update(_rpm_estimate, dt, true);
+
+	return output;
+}

src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp

@@ -43,64 +43,20 @@
 
 #pragma once
 
-#include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <lib/pid/PID.hpp>
-
+#include <px4_platform_common/module_params.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/pwm_input.h>
 #include <uORB/topics/rpm.h>
 
-using namespace time_literals;
-
 class RpmControl : public ModuleParams
 {
 public:
-	RpmControl(ModuleParams *parent) :  ModuleParams(parent) {};
+	RpmControl(ModuleParams *parent);
 	~RpmControl() = default;
 
-	void setSpoolupProgress(float spoolup_progress)
+	void setSpoolupProgress(float spoolup_progress);
-	{
+	float getActuatorCorrection();
-		_spoolup_progress = spoolup_progress;
-		_pid.setSetpoint(_spoolup_progress * _param_ca_heli_rpm_sp.get());
-
-		if (_spoolup_progress < .8f) {
-			_pid.resetIntegral();
-		}
-	}
-
-	float getActuatorCorrection()
-	{
-		if (_rpm_sub.updated()) {
-			rpm_s rpm{};
-
-			if (_rpm_sub.copy(&rpm)) {
-				_rpm_estimate = rpm.rpm_estimate;
-				_timestamp_last_rpm_measurement = rpm.timestamp;
-			}
-		}
-
-		hrt_abstime now = hrt_absolute_time();
-		const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 1e-3f, 1.f);
-		_timestamp_last_update = now;
-
-		const bool rpm_measurement_timeout = (now - _timestamp_last_rpm_measurement) < 1_s;
-
-		if (rpm_measurement_timeout) {
-			const float gain_scale = math::max((_spoolup_progress - .8f) * 5.f, 0.f) * 1e-3f;
-			_pid.setGains(_param_ca_heli_rpm_p.get() * gain_scale, _param_ca_heli_rpm_i.get() * gain_scale, 0.f);
-
-		} else {
-			_pid.setGains(0.f, 0.f, 0.f);
-		}
-
-		_pid.setOutputLimit(.5f);
-		_pid.setIntegralLimit(.5f);
-
-		float output = _pid.update(_rpm_estimate, dt, true);
-
-		return output;
-	}
 
 private:
 	uORB::Subscription _rpm_sub{ORB_ID(rpm)};