Merge pull request #1213 from bitcraze/krichardsson/rename-any

Rename "any" controller and estimator

configs/bolt_defconfig

@@ -1,4 +1,4 @@
 CONFIG_PLATFORM_BOLT=y
 
-CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
+CONFIG_CONTROLLER_AUTO_SELECT=y

configs/cfbl_defconfig

@@ -1,4 +1,4 @@
 CONFIG_MOTORS_ESC_PROTOCOL_DSHOT=y
 
-CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
+CONFIG_CONTROLLER_AUTO_SELECT=y

configs/flapper_defconfig

@@ -1,6 +1,6 @@
 CONFIG_PLATFORM_FLAPPER=y
 
-CONFIG_ESTIMATOR_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
 CONFIG_CONTROLLER_PID=y
 
 CONFIG_MOTORS_ESC_PROTOCOL_STANDARD_PWM=y

configs/tag_defconfig

@@ -1,7 +1,7 @@
 CONFIG_PLATFORM_TAG=y
 
-CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
+CONFIG_CONTROLLER_AUTO_SELECT=y
 
 CONFIG_DECK_FORCE="bcLoco"
 CONFIG_SENSORS_IGNORE_BAROMETER_FAIL=y

docs/development/create_platform.md

@@ -195,17 +195,17 @@ To make it easier for people to build for `RINCEWIND` we can add a `defconfig` f
 ```Makefile
 CONFIG_PLATFORM_BOLT=y
 
-CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
+CONFIG_CONTROLLER_AUTO_SELECT=y
 ```
 
 Based on this a start of `rincewind_defconfig` could be:
 
 ```Makefile
 CONFIG_PLATFORM_RINCEWIND=y
 
-CONFIG_ESTIMATOR_ANY=y
-CONFIG_CONTROLLER_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
+CONFIG_CONTROLLER_AUTO_SELECT=y
 ```
 
 Then `RINCEWIND` platform could be built by:

src/deck/core/deck_info.c

@@ -52,7 +52,7 @@ static void enumerateDecks(void);
 static void checkPeriphAndGpioConflicts(void);
 
 static void scanRequiredSystemProperties(void);
-static StateEstimatorType requiredEstimator = anyEstimator;
+static StateEstimatorType requiredEstimator = StateEstimatorTypeAutoSelect;
 static bool registerRequiredEstimator(StateEstimatorType estimator);
 static bool requiredLowInterferenceRadioMode = false;
 
@@ -370,9 +370,9 @@ static bool registerRequiredEstimator(StateEstimatorType estimator)
 {
   bool isError = false;
 
-  if (anyEstimator != estimator)
+  if (StateEstimatorTypeAutoSelect != estimator)
   {
-    if (anyEstimator == requiredEstimator)
+    if (StateEstimatorTypeAutoSelect == requiredEstimator)
     {
       requiredEstimator = estimator;
     }

src/deck/drivers/src/flowdeck_v1v2.c

@@ -121,12 +121,12 @@ static void flowdeckTask(void *param)
     flowData.stdDevX = stdFlow;
     flowData.stdDevY = stdFlow;
     flowData.dt = (float)(usecTimestamp()-lastTime)/1000000.0f;
-    // we do want to update dt every measurement and not only in the ones with detected motion, 
-    // as we work with instantaneous gyro and velocity values in the update function 
+    // we do want to update dt every measurement and not only in the ones with detected motion,
+    // as we work with instantaneous gyro and velocity values in the update function
     // (meaning assuming the current measurements over all of dt)
-    lastTime = usecTimestamp(); 
+    lastTime = usecTimestamp();
+
 
-
 
 #if defined(USE_MA_SMOOTHING)
       // Use MA Smoothing
@@ -203,7 +203,7 @@ static const DeckDriver flowdeck1_deck = {
   .name = "bcFlow",
   .usedGpio = DECK_USING_IO_3,
   .usedPeriph = DECK_USING_I2C | DECK_USING_SPI,
-  .requiredEstimator = kalmanEstimator,
+  .requiredEstimator = StateEstimatorTypeKalman,
 
   .init = flowdeck1Init,
   .test = flowdeck1Test,
@@ -250,7 +250,7 @@ static const DeckDriver flowdeck2_deck = {
 
   .usedGpio = DECK_USING_IO_3,
   .usedPeriph = DECK_USING_I2C | DECK_USING_SPI,
-  .requiredEstimator = kalmanEstimator,
+  .requiredEstimator = StateEstimatorTypeKalman,
 
   .init = flowdeck2Init,
   .test = flowdeck2Test,

src/deck/drivers/src/lighthouse.c

@@ -91,7 +91,7 @@ static const DeckDriver lighthouse_deck = {
 
   .usedGpio = 0,
   .usedPeriph = DECK_USING_UART1,
-  .requiredEstimator = kalmanEstimator,
+  .requiredEstimator = StateEstimatorTypeKalman,
 
   .memoryDef = &memoryDef,
 

src/deck/drivers/src/locodeck.c

@@ -585,7 +585,7 @@ static const DeckDriver dwm1000_deck = {
   .usedGpio = DECK_USING_IO_1 | DECK_USING_PC10 | DECK_USING_PC11,
 #endif
   .usedPeriph = DECK_USING_SPI,
-  .requiredEstimator = kalmanEstimator,
+  .requiredEstimator = StateEstimatorTypeKalman,
   #ifdef LOCODECK_NO_LOW_INTERFERENCE
   .requiredLowInterferenceRadioMode = false,
   #else

src/modules/interface/controller.h

@@ -29,7 +29,7 @@
 #include "stabilizer_types.h"
 
 typedef enum {
-  ControllerTypeAny,
+  ControllerTypeAutoSelect,
   ControllerTypePID,
   ControllerTypeMellinger,
   ControllerTypeINDI,

src/modules/interface/estimator.h

@@ -29,18 +29,18 @@
 #include "stabilizer_types.h"
 
 typedef enum {
-  anyEstimator = 0,
-  complementaryEstimator,
+  StateEstimatorTypeAutoSelect = 0,
+  StateEstimatorTypeComplementary,
 #ifdef CONFIG_ESTIMATOR_KALMAN_ENABLE
-  kalmanEstimator,
+  StateEstimatorTypeKalman,
 #endif
 #ifdef CONFIG_ESTIMATOR_UKF_ENABLE
-  ukfEstimator,
+  StateEstimatorTypeUkf,
 #endif
 #ifdef CONFIG_ESTIMATOR_OOT
-  OutOfTreeEstimator,
+  StateEstimatorTypeOutOfTree,
 #endif
-  StateEstimatorTypeCount,
+  StateEstimatorType_COUNT,
 } StateEstimatorType;
 
 typedef enum {
@@ -168,4 +168,4 @@ bool estimatorDequeue(measurement_t *measurement);
 void estimatorOutOfTreeInit(void);
 bool estimatorOutOfTreeTest(void);
 void estimatorOutOfTree(state_t *state, const uint32_t tick);
-#endif
+#endif

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
 
@@ -61,10 +61,10 @@ config ESTIMATOR_UKF_ENABLE
 
 choice
     prompt "Default estimator"
-    default CONFIG_ESTIMATOR_ANY
+    default CONFIG_ESTIMATOR_AUTO_SELECT
 
-config ESTIMATOR_ANY
-    bool "Any Estimator"
+config ESTIMATOR_AUTO_SELECT
+    bool "Auto select Estimator"
     help
         Do not care which estimator is used, if any
 

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;
   }

src/modules/src/estimator.c

@@ -16,8 +16,8 @@
 #include "eventtrigger.h"
 #include "quatcompress.h"
 
-#define DEFAULT_ESTIMATOR complementaryEstimator
-static StateEstimatorType currentEstimator = anyEstimator;
+#define DEFAULT_ESTIMATOR StateEstimatorTypeComplementary
+static StateEstimatorType currentEstimator = StateEstimatorTypeAutoSelect;
 
 
 #define MEASUREMENTS_QUEUE_SIZE (20)
@@ -106,28 +106,28 @@ void stateEstimatorInit(StateEstimatorType estimator) {
 }
 
 void stateEstimatorSwitchTo(StateEstimatorType estimator) {
-  if (estimator < 0 || estimator >= StateEstimatorTypeCount) {
+  if (estimator < 0 || estimator >= StateEstimatorType_COUNT) {
     return;
   }
 
   StateEstimatorType newEstimator = estimator;
 
-  if (anyEstimator == newEstimator) {
+  if (StateEstimatorTypeAutoSelect == newEstimator) {
     newEstimator = DEFAULT_ESTIMATOR;
   }
 
   #if defined(CONFIG_ESTIMATOR_KALMAN)
-    #define ESTIMATOR kalmanEstimator
+    #define ESTIMATOR StateEstimatorTypeKalman
   #elif defined(CONFIG_UKF_KALMAN)
-    #define ESTIMATOR ukfEstimator
+    #define ESTIMATOR StateEstimatorTypeUkf
   #elif defined(CONFIG_ESTIMATOR_COMPLEMENTARY)
-    #define ESTIMATOR complementaryEstimator
+    #define ESTIMATOR StateEstimatorTypeComplementary
   #else
-    #define ESTIMATOR anyEstimator
+    #define ESTIMATOR StateEstimatorTypeAutoSelect
   #endif
 
   StateEstimatorType forcedEstimator = ESTIMATOR;
-  if (forcedEstimator != anyEstimator) {
+  if (forcedEstimator != StateEstimatorTypeAutoSelect) {
     DEBUG_PRINT("Estimator type forced\n");
     newEstimator = forcedEstimator;
   }

src/modules/src/stabilizer.c

@@ -178,7 +178,7 @@ void stabilizerInit(StateEstimatorType estimator)
 
   sensorsInit();
   stateEstimatorInit(estimator);
-  controllerInit(ControllerTypeAny);
+  controllerInit(ControllerTypeAutoSelect);
   powerDistributionInit();
   motorsInit(platformConfigGetMotorMapping());
   collisionAvoidanceInit();
@@ -359,13 +359,13 @@ void stabilizerSetEmergencyStopTimeout(int timeout)
  */
 PARAM_GROUP_START(stabilizer)
 /**
- * @brief Estimator type Any(0), complementary(1), extended kalman(2), **unscented kalman(3)  (Default: 0)
- * 
+ * @brief Estimator type Auto select(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)
 /**

src/modules/src/system.c

@@ -194,7 +194,7 @@ void systemTask(void *arg)
   commInit();
   commanderInit();
 
-  StateEstimatorType estimator = anyEstimator;
+  StateEstimatorType estimator = StateEstimatorTypeAutoSelect;
 
   #ifdef CONFIG_ESTIMATOR_KALMAN_ENABLE
   estimatorKalmanTaskInit();