Renamed "controller any" to "auto select"

bitcraze · Feb 1, 2023 · 0cc31a9 · 0cc31a9
1 parent bc58d44
commit 0cc31a9
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Showing 8 changed files with 16 additions and 16 deletions.
diff --git a/configs/bolt_defconfig b/configs/bolt_defconfig
@@ -1,4 +1,4 @@
 CONFIG_PLATFORM_BOLT=y
 
 CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_CONTROLLER_AUTO_SELECT=y
diff --git a/configs/cfbl_defconfig b/configs/cfbl_defconfig
@@ -1,4 +1,4 @@
 CONFIG_MOTORS_ESC_PROTOCOL_DSHOT=y
 
 CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_CONTROLLER_AUTO_SELECT=y
diff --git a/configs/tag_defconfig b/configs/tag_defconfig
@@ -1,7 +1,7 @@
 CONFIG_PLATFORM_TAG=y
 
 CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_CONTROLLER_AUTO_SELECT=y
 
 CONFIG_DECK_FORCE="bcLoco"
 CONFIG_SENSORS_IGNORE_BAROMETER_FAIL=y
diff --git a/docs/development/create_platform.md b/docs/development/create_platform.md
@@ -196,7 +196,7 @@ To make it easier for people to build for `RINCEWIND` we can add a `defconfig` f
 CONFIG_PLATFORM_BOLT=y
 
 CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_CONTROLLER_AUTO_SELECT=y
 ```
 
 Based on this a start of `rincewind_defconfig` could be:
@@ -205,7 +205,7 @@ Based on this a start of `rincewind_defconfig` could be:
 CONFIG_PLATFORM_RINCEWIND=y
 
 CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_CONTROLLER_AUTO_SELECT=y
 ```
 
 Then `RINCEWIND` platform could be built by:

diff --git a/src/modules/interface/controller.h b/src/modules/interface/controller.h
@@ -29,7 +29,7 @@
 #include "stabilizer_types.h"
 
 typedef enum {
-  ControllerTypeAny,
+  ControllerTypeAutoSelect,
   ControllerTypePID,
   ControllerTypeMellinger,
   ControllerTypeINDI,

diff --git a/src/modules/src/Kconfig b/src/modules/src/Kconfig
@@ -2,10 +2,10 @@ menu "Controllers and Estimators"
 
 choice
     prompt "Default controller"
-    default CONFIG_CONTROLLER_ANY
+    default CONFIG_CONTROLLER_AUTO_SELECT
 
-config CONTROLLER_ANY
-    bool "Any Controller"
+config CONTROLLER_AUTO_SELECT
+    bool "Auto select Controller"
     help
         Do not care which controller is used, if any
 

diff --git a/src/modules/src/controller.c b/src/modules/src/controller.c
@@ -11,7 +11,7 @@
 #include "autoconf.h"
 
 #define DEFAULT_CONTROLLER ControllerTypePID
-static ControllerType currentController = ControllerTypeAny;
+static ControllerType currentController = ControllerTypeAutoSelect;
 
 static void initController();
 
@@ -41,7 +41,7 @@ void controllerInit(ControllerType controller) {
 
   currentController = controller;
 
-  if (ControllerTypeAny == currentController) {
+  if (ControllerTypeAutoSelect == currentController) {
     currentController = DEFAULT_CONTROLLER;
   }
 
@@ -54,11 +54,11 @@ void controllerInit(ControllerType controller) {
   #elif defined(CONFIG_CONTROLLER_BRESCIANINI)
     #define CONTROLLER ControllerTypeBrescianini
   #else
-    #define CONTROLLER ControllerTypeAny
+    #define CONTROLLER ControllerTypeAutoSelect
   #endif
 
   ControllerType forcedController = CONTROLLER;
-  if (forcedController != ControllerTypeAny) {
+  if (forcedController != ControllerTypeAutoSelect) {
     DEBUG_PRINT("Controller type forced\n");
     currentController = forcedController;
   }

diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
@@ -178,7 +178,7 @@ void stabilizerInit(StateEstimatorType estimator)
 
   sensorsInit();
   stateEstimatorInit(estimator);
-  controllerInit(ControllerTypeAny);
+  controllerInit(ControllerTypeAutoSelect);
   powerDistributionInit();
   motorsInit(platformConfigGetMotorMapping());
   collisionAvoidanceInit();
@@ -360,12 +360,12 @@ void stabilizerSetEmergencyStopTimeout(int timeout)
 PARAM_GROUP_START(stabilizer)
 /**
  * @brief Estimator type Any(0), complementary(1), extended kalman(2), **unscented kalman(3)  (Default: 0)
- * 
+ *
  * ** Experimental, needs to be enabled in kbuild
  */
 PARAM_ADD_CORE(PARAM_UINT8, estimator, &estimatorType)
 /**
- * @brief Controller type Any(0), PID(1), Mellinger(2), INDI(3), Brescianini(4) (Default: 0)
+ * @brief Controller type Auto select(0), PID(1), Mellinger(2), INDI(3), Brescianini(4) (Default: 0)
  */
 PARAM_ADD_CORE(PARAM_UINT8, controller, &controllerType)
 /**