调整了Kconfig

apps/controller/landing_target_estimator/Kconfig

@@ -1,4 +1,4 @@
-menuconfig MODULES_LANDING_TARGET_ESTIMATOR
+menuconfig FCS_USING_LANDING_TARGET_ESTIMATOR
 	bool "landing_target_estimator"
 	default n
 	---help---
@@ -7,6 +7,6 @@ menuconfig MODULES_LANDING_TARGET_ESTIMATOR
 menuconfig USER_LANDING_TARGET_ESTIMATOR
 	bool "landing_target_estimator running as userspace module"
 	default y
-	depends on BOARD_PROTECTED && MODULES_LANDING_TARGET_ESTIMATOR
+	depends on BOARD_PROTECTED && FCS_USING_LANDING_TARGET_ESTIMATOR
 	---help---
 		Put landing_target_estimator in userspace memory

apps/estimator/airspeed_selector/Kconfig

@@ -8,6 +8,6 @@ menuconfig INS_USING_AIRSPEED_SELECTOR
 # menuconfig USER_AIRSPEED_SELECTOR
 # 	bool "airspeed_selector running as userspace module"
 # 	default y
-# 	depends on BOARD_PROTECTED && MODULES_AIRSPEED_SELECTOR
+# 	depends on BOARD_PROTECTED && INS_USING_AIRSPEED_SELECTOR
 # 	---help---
 # 		Put airspeed_selector in userspace memory

apps/estimator/airspeed_selector/airspeed_selector_main.cpp

@@ -8,6 +8,8 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
+#define LOG_TAG "airspeed_selector"
+
 #include "AirspeedValidator.hpp"
 
 #include <hrtimer.h>
@@ -671,3 +673,13 @@ and also publishes those.
 extern "C" __EXPORT int airspeed_selector_main(int argc, char *argv[]) {
     return AirspeedModule::main(argc, argv);
 }
+
+MSH_CMD_EXPORT_ALIAS(airspeed_selector_main, airspeed_selector, airspeed selector);
+
+int airspeed_selector_start() {
+    const char *argv[] = {"airspeed_selector", "start"};
+    int         argc   = sizeof(argv) / sizeof(argv[0]);
+    return airspeed_selector_main(argc, (char **)argv);
+}
+
+INIT_APP_EXPORT(airspeed_selector_start);

apps/estimator/attitude_estimator_q/Kconfig

@@ -7,6 +7,6 @@ menuconfig INS_USING_ATTITUDE_ESTIMATOR_Q
 # menuconfig USER_ATTITUDE_ESTIMATOR_Q
 # 	bool "attitude_estimator_q running as userspace module"
 # 	default n
-# 	depends on BOARD_PROTECTED && MODULES_ATTITUDE_ESTIMATOR_Q
+# 	depends on BOARD_PROTECTED && INS_USING_ATTITUDE_ESTIMATOR_Q
 # 	---help---
 # 		Put attitude_estimator_q in userspace memory

apps/estimator/ekf2/Kconfig

@@ -5,7 +5,7 @@ menuconfig INS_USING_EKF2
 		Enable support for ekf2
 
 menuconfig EKF2_MULTI_INSTANCE
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "multi-EKF support"
         default y
 	depends on !BOARD_CONSTRAINED_MEMORY
@@ -14,65 +14,65 @@ depends on MODULES_EKF2
 		EKF2 support multiple instances and selector.
 
 menuconfig EKF2_AIRSPEED
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "airspeed fusion support"
         default y
 	depends on EKF2_SIDESLIP
 	---help---
 		EKF2 airspeed fusion support.
 
 menuconfig EKF2_AUXVEL
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "aux velocity fusion support"
         default y
 	---help---
 		EKF2 auxiliary velocity fusion support.
 
 menuconfig EKF2_BARO_COMPENSATION
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "barometer compensation support"
         default y
 	---help---
 		EKF2 pressure compensation support.
 
 menuconfig EKF2_DRAG_FUSION
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "drag fusion support"
         default y
 	---help---
 		EKF2 drag fusion support.
 
 menuconfig EKF2_EXTERNAL_VISION
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "external vision (EV) fusion support"
         default y
 	---help---
 		EKF2 external vision (EV) fusion support.
 
 menuconfig EKF2_GNSS_YAW
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "GNSS yaw fusion support"
         default y
 	---help---
 		EKF2 GNSS yaw fusion support.
 
 menuconfig EKF2_OPTICAL_FLOW
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "optical flow fusion support"
         default y
 	depends on EKF2_RANGE_FINDER
 	---help---
 		EKF2 optical flow fusion support.
 
 menuconfig EKF2_RANGE_FINDER
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "range finder fusion support"
         default y
 	---help---
 		EKF2 range finder fusion support.
 
 menuconfig EKF2_SIDESLIP
-depends on MODULES_EKF2
+depends on INS_USING_EKF2
         bool "sideslip fusion support"
         default y
 	---help---
@@ -81,6 +81,6 @@ depends on MODULES_EKF2
 menuconfig USER_EKF2
 	bool "ekf2 running as userspace module"
 	default n
-	depends on BOARD_PROTECTED && MODULES_EKF2
+	depends on BOARD_PROTECTED && INS_USING_EKF2
 	---help---
 		Put ekf2 in userspace memory

apps/estimator/gyro_calibration/Kconfig

@@ -7,6 +7,6 @@ menuconfig INS_USING_GYRO_CALIBRATION
 # menuconfig USER_GYRO_CALIBRATION
 # 	bool "gyro_calibration running as userspace module"
 # 	default y
-# 	depends on BOARD_PROTECTED && MODULES_GYRO_CALIBRATION
+# 	depends on BOARD_PROTECTED && INS_USING_GYRO_CALIBRATION
 # 	---help---
 # 		Put gyro_calibration in userspace memory

apps/estimator/gyro_fft/Kconfig

@@ -1,12 +1,12 @@
-menuconfig MODULES_GYRO_FFT
+menuconfig INS_USING_GYRO_FFT
 	bool "gyro_fft"
 	default n
 	---help---
 		Enable support for gyro_fft
 
-menuconfig USER_GYRO_FFT
-	bool "gyro_fft running as userspace module"
-	default n
-	depends on BOARD_PROTECTED && MODULES_GYRO_FFT
-	---help---
-		Put gyro_fft in userspace memory
+# menuconfig USER_GYRO_FFT
+# 	bool "gyro_fft running as userspace module"
+# 	default n
+# 	depends on BOARD_PROTECTED && INS_USING_GYRO_FFT
+# 	---help---
+# 		Put gyro_fft in userspace memory

apps/estimator/gyro_fft/SConscript

@@ -0,0 +1,12 @@
+import os
+import sys
+from building import *
+
+cwd = GetCurrentDir()
+
+inc = []
+src = Glob("*.cpp", exclude="*_test.cpp")
+
+objs = DefineGroup("ins/gyro_fft", src, depend=["INS_USING_GYRO_FFT"])
+
+Return("objs")

apps/estimator/local_position_estimator/Kconfig

@@ -1,12 +1,12 @@
-menuconfig MODULES_LOCAL_POSITION_ESTIMATOR
+menuconfig INS_USING_LOCAL_POSITION_ESTIMATOR
 	bool "local_position_estimator"
 	default n
 	---help---
 		Enable support for local_position_estimator
 
-menuconfig USER_LOCAL_POSITION_ESTIMATOR
-	bool "local_position_estimator running as userspace module"
-	default y
-	depends on BOARD_PROTECTED && MODULES_LOCAL_POSITION_ESTIMATOR
-	---help---
-		Put local_position_estimator in userspace memory
+# menuconfig USER_LOCAL_POSITION_ESTIMATOR
+# 	bool "local_position_estimator running as userspace module"
+# 	default y
+# 	depends on BOARD_PROTECTED && INS_USING_LOCAL_POSITION_ESTIMATOR
+# 	---help---
+# 		Put local_position_estimator in userspace memory

apps/estimator/local_position_estimator/SConscript

@@ -0,0 +1,12 @@
+import os
+import sys
+from building import *
+
+cwd = GetCurrentDir()
+
+inc = []
+src = Glob("*.cpp", exclude="*_test.cpp")
+
+objs = DefineGroup("ins/local_position_estimator", src, depend=["INS_USING_LOCAL_POSITION_ESTIMATOR"])
+
+Return("objs")

apps/estimator/temperature_compensation/Kconfig

@@ -7,6 +7,6 @@ menuconfig INS_USING_TEMPERATURE_COMPENSATION
 # menuconfig USER_TEMPERATURE_COMPENSATION
 # 	bool "temperature_compensation running as userspace module"
 # 	default y
-# 	depends on BOARD_PROTECTED && MODULES_TEMPERATURE_COMPENSATION
+# 	depends on BOARD_PROTECTED && INS_USING_TEMPERATURE_COMPENSATION
 # 	---help---
 # 		Put temperature_compensation in userspace memory

bsps/sitl/qemu/config/alloc.config

@@ -46,7 +46,7 @@ CONFIG_FCS_USING_CONTROL_ALLOCATOR=y
 # CONFIG_FCS_UISNG_FW_POS_CONTROL is not set
 # CONFIG_FCS_USING_FW_RATE_CONTROL is not set
 # CONFIG_FCS_USING_LAND_DETECTOR is not set
-# CONFIG_MODULES_LANDING_TARGET_ESTIMATOR is not set
+# CONFIG_FCS_USING_LANDING_TARGET_ESTIMATOR is not set
 # CONFIG_FCS_USING_MANUAL_CONTROL is not set
 # CONFIG_FCS_USING_MC_ATT_CONTROL is not set
 # CONFIG_FCS_MC_AUTOTUNE_ATTITUDE_CONTROL is not set
@@ -61,15 +61,15 @@ CONFIG_FCS_USING_CONTROL_ALLOCATOR=y
 #
 # Nextpilot Estimator Config
 #
-# CONFIG_MODULES_AIRSPEED_SELECTOR is not set
-# CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q is not set
-# CONFIG_MODULES_EKF2 is not set
-# CONFIG_MODULES_GYRO_CALIBRATION is not set
-# CONFIG_MODULES_GYRO_FFT is not set
-# CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR is not set
-# CONFIG_MODULES_MAG_BIAS_ESTIMATOR is not set
-# CONFIG_MODULES_SENSORS is not set
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+# CONFIG_INS_USING_AIRSPEED_SELECTOR is not set
+# CONFIG_INS_USING_ATTITUDE_ESTIMATOR_Q is not set
+# CONFIG_INS_USING_EKF2 is not set
+# CONFIG_INS_USING_GYRO_CALIBRATION is not set
+# CONFIG_INS_USING_GYRO_FFT is not set
+# CONFIG_INS_USING_LOCAL_POSITION_ESTIMATOR is not set
+# CONFIG_INS_USING_MAG_BIAS_ESTIMATOR is not set
+# CONFIG_INS_USING_SENSORS is not set
+# CONFIG_INS_USING_TEMPERATURE_COMPENSATION is not set
 # end of Nextpilot Estimator Config
 
 #

bsps/sitl/qemu/config/default.config

@@ -46,7 +46,7 @@ CONFIG_FCS_USING_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_FCS_UISNG_FW_POS_CONTROL=y
 CONFIG_FCS_USING_FW_RATE_CONTROL=y
 CONFIG_FCS_USING_LAND_DETECTOR=y
-# CONFIG_MODULES_LANDING_TARGET_ESTIMATOR is not set
+# CONFIG_FCS_USING_LANDING_TARGET_ESTIMATOR is not set
 CONFIG_FCS_USING_MANUAL_CONTROL=y
 CONFIG_FCS_USING_MC_ATT_CONTROL=y
 CONFIG_FCS_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -62,14 +62,14 @@ CONFIG_FCS_USING_VTOL_ATT_CONTROL=y
 # Nextpilot Estimator Config
 #
 CONFIG_INS_USING_AIRSPEED_SELECTOR=y
-# CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q is not set
-# CONFIG_MODULES_EKF2 is not set
-# CONFIG_MODULES_GYRO_CALIBRATION is not set
-# CONFIG_MODULES_GYRO_FFT is not set
-# CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR is not set
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-# CONFIG_MODULES_SENSORS is not set
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+CONFIG_INS_USING_ATTITUDE_ESTIMATOR_Q=y
+# CONFIG_INS_USING_EKF2 is not set
+CONFIG_INS_USING_GYRO_CALIBRATION=y
+# CONFIG_INS_USING_GYRO_FFT is not set
+CONFIG_INS_USING_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_INS_USING_MAG_BIAS_ESTIMATOR=y
+# CONFIG_INS_USING_SENSORS is not set
+CONFIG_INS_USING_TEMPERATURE_COMPENSATION=y
 # end of Nextpilot Estimator Config
 
 #

bsps/sitl/qemu/config/fmm.config

@@ -46,7 +46,7 @@ CONFIG_FCS_USING_FLIGHT_MODE_MANAGER=y
 # CONFIG_FCS_UISNG_FW_POS_CONTROL is not set
 # CONFIG_FCS_USING_FW_RATE_CONTROL is not set
 # CONFIG_FCS_USING_LAND_DETECTOR is not set
-# CONFIG_MODULES_LANDING_TARGET_ESTIMATOR is not set
+# CONFIG_FCS_USING_LANDING_TARGET_ESTIMATOR is not set
 # CONFIG_FCS_USING_MANUAL_CONTROL is not set
 # CONFIG_FCS_USING_MC_ATT_CONTROL is not set
 # CONFIG_FCS_MC_AUTOTUNE_ATTITUDE_CONTROL is not set
@@ -61,15 +61,15 @@ CONFIG_FCS_USING_FLIGHT_MODE_MANAGER=y
 #
 # Nextpilot Estimator Config
 #
-# CONFIG_MODULES_AIRSPEED_SELECTOR is not set
-# CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q is not set
-# CONFIG_MODULES_EKF2 is not set
-# CONFIG_MODULES_GYRO_CALIBRATION is not set
-# CONFIG_MODULES_GYRO_FFT is not set
-# CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR is not set
-# CONFIG_MODULES_MAG_BIAS_ESTIMATOR is not set
-# CONFIG_MODULES_SENSORS is not set
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+# CONFIG_INS_USING_AIRSPEED_SELECTOR is not set
+# CONFIG_INS_USING_ATTITUDE_ESTIMATOR_Q is not set
+# CONFIG_INS_USING_EKF2 is not set
+# CONFIG_INS_USING_GYRO_CALIBRATION is not set
+# CONFIG_INS_USING_GYRO_FFT is not set
+# CONFIG_INS_USING_LOCAL_POSITION_ESTIMATOR is not set
+# CONFIG_INS_USING_MAG_BIAS_ESTIMATOR is not set
+# CONFIG_INS_USING_SENSORS is not set
+# CONFIG_INS_USING_TEMPERATURE_COMPENSATION is not set
 # end of Nextpilot Estimator Config
 
 #

bsps/sitl/qemu/config/sim.config

@@ -46,7 +46,7 @@ CONFIG_FCS_USING_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_FCS_UISNG_FW_POS_CONTROL=y
 CONFIG_FCS_USING_FW_RATE_CONTROL=y
 CONFIG_FCS_USING_LAND_DETECTOR=y
-# CONFIG_MODULES_LANDING_TARGET_ESTIMATOR is not set
+# CONFIG_FCS_USING_LANDING_TARGET_ESTIMATOR is not set
 CONFIG_FCS_USING_MANUAL_CONTROL=y
 CONFIG_FCS_USING_MC_ATT_CONTROL=y
 CONFIG_FCS_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -61,15 +61,15 @@ CONFIG_FCS_USING_VTOL_ATT_CONTROL=y
 #
 # Nextpilot Estimator Config
 #
-# CONFIG_MODULES_AIRSPEED_SELECTOR is not set
-# CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q is not set
-# CONFIG_MODULES_EKF2 is not set
-# CONFIG_MODULES_GYRO_CALIBRATION is not set
-# CONFIG_MODULES_GYRO_FFT is not set
-# CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR is not set
-# CONFIG_MODULES_MAG_BIAS_ESTIMATOR is not set
-# CONFIG_MODULES_SENSORS is not set
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+# CONFIG_INS_USING_AIRSPEED_SELECTOR is not set
+# CONFIG_INS_USING_ATTITUDE_ESTIMATOR_Q is not set
+# CONFIG_INS_USING_EKF2 is not set
+# CONFIG_INS_USING_GYRO_CALIBRATION is not set
+# CONFIG_INS_USING_GYRO_FFT is not set
+# CONFIG_INS_USING_LOCAL_POSITION_ESTIMATOR is not set
+# CONFIG_INS_USING_MAG_BIAS_ESTIMATOR is not set
+# CONFIG_INS_USING_SENSORS is not set
+# CONFIG_INS_USING_TEMPERATURE_COMPENSATION is not set
 # end of Nextpilot Estimator Config
 
 #

bsps/sitl/qemu/config/sim_pwm.config

@@ -46,7 +46,7 @@ CONFIG_RT_USING_UART1=y
 # CONFIG_FCS_UISNG_FW_POS_CONTROL is not set
 # CONFIG_FCS_USING_FW_RATE_CONTROL is not set
 # CONFIG_FCS_USING_LAND_DETECTOR is not set
-# CONFIG_MODULES_LANDING_TARGET_ESTIMATOR is not set
+# CONFIG_FCS_USING_LANDING_TARGET_ESTIMATOR is not set
 # CONFIG_FCS_USING_MANUAL_CONTROL is not set
 # CONFIG_FCS_USING_MC_ATT_CONTROL is not set
 # CONFIG_FCS_MC_AUTOTUNE_ATTITUDE_CONTROL is not set
@@ -61,15 +61,15 @@ CONFIG_RT_USING_UART1=y
 #
 # Nextpilot Estimator Config
 #
-# CONFIG_MODULES_AIRSPEED_SELECTOR is not set
-# CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q is not set
-# CONFIG_MODULES_EKF2 is not set
-# CONFIG_MODULES_GYRO_CALIBRATION is not set
-# CONFIG_MODULES_GYRO_FFT is not set
-# CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR is not set
-# CONFIG_MODULES_MAG_BIAS_ESTIMATOR is not set
-# CONFIG_MODULES_SENSORS is not set
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+# CONFIG_INS_USING_AIRSPEED_SELECTOR is not set
+# CONFIG_INS_USING_ATTITUDE_ESTIMATOR_Q is not set
+# CONFIG_INS_USING_EKF2 is not set
+# CONFIG_INS_USING_GYRO_CALIBRATION is not set
+# CONFIG_INS_USING_GYRO_FFT is not set
+# CONFIG_INS_USING_LOCAL_POSITION_ESTIMATOR is not set
+# CONFIG_INS_USING_MAG_BIAS_ESTIMATOR is not set
+# CONFIG_INS_USING_SENSORS is not set
+# CONFIG_INS_USING_TEMPERATURE_COMPENSATION is not set
 # end of Nextpilot Estimator Config
 
 #