[fixedwing] move nav.[ch] to firmwares/fixedwing

conf/firmwares/subsystems/fixedwing/navigation.makefile

@@ -6,7 +6,7 @@
 #add these to all targets
 
 $(TARGET).CFLAGS += -DNAV
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
+$(TARGET).srcs += $(SRC_FIRMWARE)/nav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c

conf/settings/control/ctl_adaptive.xml

@@ -61,7 +61,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>

conf/settings/control/ctl_basic.xml

@@ -58,7 +58,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>

conf/settings/control/ctl_energy.xml

@@ -100,7 +100,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>

conf/settings/control/ctl_energyadaptive.xml

@@ -113,7 +113,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>

conf/settings/control/ctl_new.xml

@@ -69,7 +69,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>

conf/settings/control/ctl_new_airspeed.xml

@@ -82,7 +82,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>

conf/settings/fixedwing_basic.xml

@@ -7,9 +7,9 @@
     <dl_settings NAME="flight params">
       <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
       <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
       <dl_setting MAX="0" MIN="0" STEP="1" VAR="autopilot_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="firmwares/fixedwing/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1" group="circle"/>
         <strip_button icon="circle-left.png" name="Circle left" value="-1" group="circle"/>
         <key_press key="greater" value="1"/>

sw/airborne/arch/sim/jsbsim_hw.h

@@ -36,7 +36,7 @@
 #include "generated/flight_plan.h"
 #include "generated/airframe.h"
 #include "generated/settings.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "subsystems/sensors/infrared.h"

sw/airborne/arch/sim/sim_ap.c

@@ -15,7 +15,7 @@
 #include "subsystems/gps.h"
 #include "subsystems/navigation/traffic_info.h"
 #include "generated/settings.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "subsystems/commands.h"

sw/airborne/firmwares/fixedwing/autopilot.c

@@ -30,7 +30,7 @@
 
 #include "state.h"
 #include "subsystems/datalink/telemetry.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/settings.h"
 
 #ifdef POWER_SWITCH_GPIO

sw/airborne/firmwares/fixedwing/datalink.c

@@ -41,7 +41,7 @@
 
 #if defined NAV || defined WIND_INFO
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #endif
 
 #ifdef HITL

sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c

@@ -65,7 +65,7 @@
 
 #include "firmwares/fixedwing/guidance/energy_ctrl.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "firmwares/fixedwing/autopilot.h"
 #include "subsystems/ahrs.h"

sw/airborne/firmwares/fixedwing/guidance/guidance_v.c

@@ -27,7 +27,7 @@
 
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "firmwares/fixedwing/autopilot.h"
 

sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c

@@ -28,7 +28,7 @@
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "firmwares/fixedwing/guidance/guidance_v_n.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "firmwares/fixedwing/autopilot.h"
 

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -66,7 +66,7 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
 #include "firmwares/fixedwing/autopilot.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include CTRL_TYPE_H
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #ifdef TRAFFIC_INFO
 #include "subsystems/navigation/traffic_info.h"

sw/airborne/firmwares/fixedwing/nav.c

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/nav.c
+ * @file firmwares/fixedwing/nav.c
  * Fixedwing functions to compute navigation.
  *
  */
@@ -29,7 +29,7 @@
 
 #include <math.h>
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/gps.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/autopilot.h"

sw/airborne/firmwares/fixedwing/nav.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/nav.h
+ * @file firmwares/fixedwing/nav.h
  *
  * Fixedwing Navigation library.
  *

sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c

@@ -31,7 +31,7 @@
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/stabilization/stabilization_adaptive.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"

sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c

@@ -30,7 +30,7 @@
 #include "std.h"
 #include "led.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"

sw/airborne/modules/benchmark/flight_benchmark.c

@@ -12,7 +12,7 @@
 #include "subsystems/datalink/downlink.h"
 #include "mcu_periph/uart.h"
 #include "generated/airframe.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 // #include "math/pprz_algebra_int.h"
 // #include "math/pprz_algebra_float.h"
 

sw/airborne/modules/cam_control/cam_roll.c

@@ -27,7 +27,7 @@
 
 #include <math.h>
 #include "cam.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
 #include "state.h"

sw/airborne/modules/cam_control/cam_segment.c

@@ -27,7 +27,7 @@
 
 #include "modules/cam_control/cam_segment.h"
 #include "modules/cam_control/cam.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 void cam_segment_init( void ) {
 }

sw/airborne/modules/cartography/cartography.c

@@ -30,7 +30,7 @@
 #include "state.h"
 #include "stdio.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 
 #include "std.h"  //macros pas mal dans sw/include

sw/airborne/modules/digital_cam/dc.h

@@ -41,7 +41,7 @@
 #include "std.h"
 #include "led.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "subsystems/gps.h"
 

sw/airborne/modules/enose/anemotaxis.c

@@ -2,7 +2,7 @@
 #include "generated/airframe.h"
 #include "state.h"
 #include "std.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "subsystems/datalink/downlink.h"
 #include "modules/enose/chemo_detect.h"

sw/airborne/modules/enose/chemotaxis.c

@@ -2,7 +2,7 @@
 #include "generated/airframe.h"
 #include "state.h"
 #include "std.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "subsystems/datalink/downlink.h"
 #include "modules/enose/chemo_detect.h"

sw/airborne/modules/max7456/max7456.c

@@ -34,7 +34,7 @@
 #include "led.h"
 #include "autopilot.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "generated/airframe.h"
 #include "subsystems/datalink/datalink.h"

sw/airborne/modules/mission/mission_fw_nav.c

@@ -30,7 +30,7 @@
 #include <stdio.h>
 #include "modules/mission/mission.h"
 #include "firmwares/fixedwing/autopilot.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 // navigation time step
 const float dt_navigation = 1.0 / ((float)NAVIGATION_FREQUENCY);

sw/airborne/modules/multi/formation.h

@@ -7,7 +7,7 @@
 #ifndef FORMATION_H
 #define FORMATION_H
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/navigation/traffic_info.h"
 
 #define FORM_MODE_GLOBAL 0

sw/airborne/modules/multi/potential.h

@@ -7,7 +7,7 @@
 #ifndef POTENTIAL_H
 #define POTENTIAL_H
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/navigation/traffic_info.h"
 
 struct force_ {

sw/airborne/modules/multi/tcas.c

@@ -28,7 +28,7 @@
 #include "multi/tcas.h"
 #include "generated/airframe.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/gps.h"
 #include "generated/flight_plan.h"
 

sw/airborne/modules/nav/nav_bungee_takeoff.c

@@ -28,7 +28,7 @@
 
 #include "modules/nav/nav_bungee_takeoff.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/nav/nav_catapult.c

@@ -40,7 +40,7 @@
 #include "state.h"
 #include "subsystems/datalink/downlink.h"
 #include "modules/nav/nav_catapult.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "firmwares/fixedwing/autopilot.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"

sw/airborne/modules/nav/nav_cube.c

@@ -28,7 +28,7 @@
 
 #include "generated/airframe.h"
 #include "modules/nav/nav_cube.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 
 #define MAX_LINES_X 8

sw/airborne/modules/nav/nav_drop.h

@@ -30,7 +30,7 @@
 #define NAV_DROP_H
 
 #include "std.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 extern unit_t nav_drop_compute_approach( uint8_t wp_target, uint8_t wp_start, float radius );
 extern unit_t nav_drop_update_release( uint8_t wp_target );

sw/airborne/modules/nav/nav_flower.c

@@ -27,7 +27,7 @@
 
 #include "modules/nav/nav_flower.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/nav/nav_gls.c

@@ -46,7 +46,7 @@
 #include "generated/airframe.h"
 #include "state.h"
 #include "modules/nav/nav_gls.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 
 float target_speed;

sw/airborne/modules/nav/nav_line.c

@@ -27,7 +27,7 @@
 
 #include "generated/airframe.h"
 #include "modules/nav/nav_line.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 /** Status along the pattern */
 enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };

sw/airborne/modules/nav/nav_line_border.c

@@ -31,7 +31,7 @@
 
 #include "modules/nav/nav_line_border.h"
 #include "generated/airframe.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 
 enum line_border_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };

sw/airborne/modules/nav/nav_line_osam.c

@@ -29,7 +29,7 @@
 
 #include "modules/nav/nav_line_osam.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/nav/nav_smooth.c

@@ -30,7 +30,7 @@
 #include "generated/airframe.h"
 #include "modules/nav/nav_smooth.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/gps.h"
 
 #define Sign(_x) ((_x) > 0 ? 1 : (-1))

sw/airborne/modules/nav/nav_spiral.c

@@ -32,7 +32,7 @@
 
 #include "modules/nav/nav_spiral.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/nav/nav_survey_disc.c

@@ -29,7 +29,7 @@
 #include "generated/airframe.h"
 #include "state.h"
 #include "std.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "math/pprz_algebra_float.h"
 

sw/airborne/modules/nav/nav_survey_poly_osam.c

@@ -26,7 +26,7 @@
 
 #include "modules/nav/nav_survey_poly_osam.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/nav/nav_survey_polygon.c

@@ -28,7 +28,7 @@
 
 #include "nav_survey_polygon.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/nav/nav_survey_zamboni.c

@@ -27,7 +27,7 @@
 
 #include "modules/nav/nav_survey_zamboni.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
 

sw/airborne/modules/nav/nav_vertical_raster.c

@@ -27,7 +27,7 @@
 
 #include "modules/nav/nav_vertical_raster.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/sensors/baro_MS5534A.c

@@ -34,7 +34,7 @@
 #include "subsystems/datalink/downlink.h"
 #endif
 #include "subsystems/abi.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 
 

sw/airborne/modules/sensors/baro_ets.c

@@ -46,7 +46,7 @@
 #include <math.h>
 #include "mcu_periph/sys_time.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 #ifdef BARO_ETS_SYNC_SEND