[modules] move commands from subsystems to modules

conf/modules/system_core.xml

@@ -32,16 +32,16 @@ $(TARGET).ARCHDIR = $(ARCH)
     <test/>
   </makefile>
   <makefile target="fbw" firmware="fixedwing">
-    <file name="commands.c" dir="subsystems"/>
+    <file name="commands.c"/>
   </makefile>
   <makefile target="ap|sim|nps|hitl" firmware="fixedwing" cond="ifeq (,$(findstring $(SEPARATE_FBW),0 FALSE))">
-    <file name="commands.c" dir="subsystems"/>
+    <file name="commands.c"/>
   </makefile>
   <makefile firmware="rotorcraft">
-    <file name="commands.c" dir="subsystems"/>
+    <file name="commands.c"/>
   </makefile>
   <makefile firmware="rover">
-    <file name="commands.c" dir="subsystems"/>
+    <file name="commands.c"/>
   </makefile>
 </module>
 

sw/airborne/arch/sim/sim_ap.c

@@ -17,7 +17,7 @@
 #include "firmwares/fixedwing/nav.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "firmwares/fixedwing/main_ap.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/datalink/telemetry.h"

sw/airborne/autopilot.c

@@ -37,7 +37,7 @@
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/gpio.h"
 #include "subsystems/radio_control.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 //#include "modules/energy/electrical.h"
 #include "subsystems/datalink/telemetry.h"

sw/airborne/firmwares/demo/demo_ahrs_actuators.c

@@ -49,7 +49,7 @@
 #include "subsystems/imu.h"
 #include "subsystems/ahrs.h"
 
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 #include "modules/core/settings.h"
 

sw/airborne/firmwares/fixedwing/autopilot_generated.c

@@ -30,7 +30,7 @@
 #include "autopilot.h"
 
 #include "subsystems/radio_control.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 #include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -36,7 +36,7 @@
 
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 #include "modules/energy/electrical.h"
 #include "subsystems/radio_control.h"

sw/airborne/firmwares/rotorcraft/autopilot_generated.c

@@ -31,7 +31,7 @@
 #include "autopilot_arming.h"
 
 #include "subsystems/radio_control.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 #include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"

sw/airborne/firmwares/rotorcraft/autopilot_static.c

@@ -31,7 +31,7 @@
 #include "autopilot_arming.h"
 
 #include "subsystems/radio_control.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 #include "modules/energy/electrical.h"
 #include "modules/core/settings.h"

sw/airborne/firmwares/rotorcraft/autopilot_utils.h

@@ -30,7 +30,7 @@
 #define AUTOPILOT_UTILS_H
 
 #include "std.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 
 /** Set descent speed in failsafe mode */
 #ifndef FAILSAFE_DESCENT_SPEED

sw/airborne/firmwares/rotorcraft/main_fbw.c

@@ -31,7 +31,7 @@
 #include "led.h"
 #include "mcu_periph/sys_time.h"
 
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 #if USE_MOTOR_MIXING
 #include "subsystems/actuators/motor_mixing.h"

sw/airborne/firmwares/rover/autopilot_generated.c

@@ -30,7 +30,7 @@
 #include "autopilot.h"
 
 #include "subsystems/radio_control.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 #include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"

sw/airborne/firmwares/rover/autopilot_utils.h

@@ -29,7 +29,7 @@
 #define AUTOPILOT_UTILS_H
 
 #include "std.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 
 extern bool ap_ahrs_is_aligned(void);
 extern uint8_t ap_mode_of_3way_switch(void);

sw/airborne/link_mcu_can.c

@@ -24,7 +24,7 @@
 #include "mcu_periph/can.h"
 #include "led.h"
 
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 
 
 //////////////////////////////////////////////////////////////////////////////////////////////

sw/airborne/link_mcu_usart.c

@@ -24,7 +24,7 @@
 #include "mcu_periph/uart.h"
 #include "led.h"
 
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 // LINK

sw/airborne/modules/core/commands.c

@@ -20,12 +20,12 @@
  *
  */
 
-/** \file commands.c
+/** \file modules/core/commands.c
  *  \brief Hardware independent data structures for commands handling
  *
  */
 
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 
 pprz_t commands[COMMANDS_NB];
 const pprz_t commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;

sw/airborne/modules/core/commands.h

@@ -20,7 +20,7 @@
  *
  */
 
-/** \file commands.h
+/** \file modules/core/commands.h
  *  \brief Hardware independent code for commands handling
  *
  */

sw/airborne/modules/datalink/mavlink.c

@@ -788,7 +788,7 @@ static void mavlink_send_battery_status(struct transport_tx *trans, struct link_
   MAVLinkSendMessage();
 }
 
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 /**
  * Send Metrics typically displayed on a HUD for fixed wing aircraft.
  */

sw/airborne/modules/energy/electrical.c

@@ -28,7 +28,7 @@
 #include "modules/energy/electrical.h"
 
 #include "mcu_periph/adc.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 
 #include "autopilot.h"
 

sw/airborne/modules/glide_wing_lock/glide_wing_lock.c

@@ -30,7 +30,7 @@
 #include "subsystems/datalink/downlink.h"
 
 #include "mcu_periph/adc.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/radio_control.h"
 #include "autopilot.h"
 

sw/airborne/modules/helicopter/throttle_curve.c

@@ -25,7 +25,7 @@
  */
 
 #include "throttle_curve.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "autopilot.h"
 #include "subsystems/radio_control.h"
 #include "subsystems/abi.h"

sw/airborne/modules/loggers/logger_control_effectiveness.c

@@ -57,7 +57,7 @@
 #include "firmwares/rotorcraft/stabilization.h"
 #endif
 #ifdef FIXEDWING_FIRMWARE
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #endif
 #endif
 

sw/airborne/modules/servo_tester/servo_tester.c

@@ -26,7 +26,7 @@
  */
 
 #include "servo_tester.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "generated/airframe.h"
 #include "generated/airframe.h"
 #include "subsystems/actuators.h"

sw/airborne/subsystems/intermcu.h

@@ -28,7 +28,7 @@
 #define INTERMCU_ROTORCRAFT_H
 
 #include "std.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "pprzlink/pprz_transport.h"
 
 #define INTERMCU_AP   0

sw/airborne/test/test_manual.c

@@ -38,7 +38,7 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 #include "subsystems/actuators.h"
 #if USE_MOTOR_MIXING
 #include "subsystems/actuators/motor_mixing.h"

sw/simulator/nps/nps_autopilot_fixedwing.c

@@ -45,7 +45,7 @@
 #include "subsystems/imu.h"
 #include "mcu_periph/sys_time.h"
 #include "state.h"
-#include "subsystems/commands.h"
+#include "modules/core/commands.h"
 
 #include "subsystems/abi.h"