Make control allocation and actuator effectiveness a non-module-speci…

…fic library (#24196) * Remove more circular dependencies with ActuatorEffectiveness * Separate vehicle specific actuator effectiveness Keep actuator effectivenss in control allocator * Remove test dependency for now * Group library directories Fix * Change directory names * Rebase fix
PX4 · Jan 15, 2025 · 974446c · 974446c
1 parent 3064a4a
commit 974446c
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Showing 48 changed files with 98 additions and 52 deletions.
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
@@ -43,6 +43,7 @@ add_subdirectory(cdrstream EXCLUDE_FROM_ALL)
 add_subdirectory(circuit_breaker EXCLUDE_FROM_ALL)
 add_subdirectory(collision_prevention EXCLUDE_FROM_ALL)
 add_subdirectory(component_information EXCLUDE_FROM_ALL)
+add_subdirectory(control_allocation EXCLUDE_FROM_ALL)
 add_subdirectory(controllib EXCLUDE_FROM_ALL)
 add_subdirectory(conversion EXCLUDE_FROM_ALL)
 add_subdirectory(crc EXCLUDE_FROM_ALL)

diff --git a/src/lib/control_allocation/CMakeLists.txt b/src/lib/control_allocation/CMakeLists.txt
@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(control_allocation)
+add_subdirectory(actuator_effectiveness)
diff --git a/...orEffectiveness/ActuatorEffectiveness.cpp → ...r_effectiveness/ActuatorEffectiveness.cpp b/...orEffectiveness/ActuatorEffectiveness.cpp → ...r_effectiveness/ActuatorEffectiveness.cpp
diff --git a/...orEffectiveness/ActuatorEffectiveness.hpp → ...r_effectiveness/ActuatorEffectiveness.hpp b/...orEffectiveness/ActuatorEffectiveness.hpp → ...r_effectiveness/ActuatorEffectiveness.hpp
diff --git a/...ator/ActuatorEffectiveness/CMakeLists.txt → ...ion/actuator_effectiveness/CMakeLists.txt b/...ator/ActuatorEffectiveness/CMakeLists.txt → ...ion/actuator_effectiveness/CMakeLists.txt
@@ -34,36 +34,6 @@
 px4_add_library(ActuatorEffectiveness
 	ActuatorEffectiveness.cpp
 	ActuatorEffectiveness.hpp
-	ActuatorEffectivenessUUV.cpp
-	ActuatorEffectivenessUUV.hpp
-	ActuatorEffectivenessControlSurfaces.cpp
-	ActuatorEffectivenessControlSurfaces.hpp
-	ActuatorEffectivenessCustom.cpp
-	ActuatorEffectivenessCustom.hpp
-	ActuatorEffectivenessFixedWing.cpp
-	ActuatorEffectivenessFixedWing.hpp
-	ActuatorEffectivenessHelicopter.cpp
-	ActuatorEffectivenessHelicopter.hpp
-	ActuatorEffectivenessHelicopterCoaxial.cpp
-	ActuatorEffectivenessHelicopterCoaxial.hpp
-	ActuatorEffectivenessMCTilt.cpp
-	ActuatorEffectivenessMCTilt.hpp
-	ActuatorEffectivenessMultirotor.cpp
-	ActuatorEffectivenessMultirotor.hpp
-	ActuatorEffectivenessTilts.cpp
-	ActuatorEffectivenessTilts.hpp
-	ActuatorEffectivenessRotors.cpp
-	ActuatorEffectivenessRotors.hpp
-	ActuatorEffectivenessStandardVTOL.cpp
-	ActuatorEffectivenessStandardVTOL.hpp
-	ActuatorEffectivenessTiltrotorVTOL.cpp
-	ActuatorEffectivenessTiltrotorVTOL.hpp
-	ActuatorEffectivenessTailsitterVTOL.cpp
-	ActuatorEffectivenessTailsitterVTOL.hpp
-	ActuatorEffectivenessRoverAckermann.hpp
-	ActuatorEffectivenessRoverAckermann.cpp
-	RpmControl.cpp
-	RpmControl.hpp
 )
 
 target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
@@ -73,6 +43,3 @@ target_link_libraries(ActuatorEffectiveness
 		mathlib
 		PID
 )
-
-px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS ActuatorEffectiveness)
-px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS ActuatorEffectiveness)
diff --git a/...llocator/ControlAllocation/CMakeLists.txt → ...ocation/control_allocation/CMakeLists.txt b/...llocator/ControlAllocation/CMakeLists.txt → ...ocation/control_allocation/CMakeLists.txt
@@ -44,4 +44,4 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(ControlAllocation PRIVATE mathlib)
 
 px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation)
-px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)
+# px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)
diff --git a/...r/ControlAllocation/ControlAllocation.cpp → .../control_allocation/ControlAllocation.cpp b/...r/ControlAllocation/ControlAllocation.cpp → .../control_allocation/ControlAllocation.cpp
diff --git a/...r/ControlAllocation/ControlAllocation.hpp → .../control_allocation/ControlAllocation.hpp b/...r/ControlAllocation/ControlAllocation.hpp → .../control_allocation/ControlAllocation.hpp
@@ -71,7 +71,7 @@
 
 #include <matrix/matrix/math.hpp>
 
-#include "ActuatorEffectiveness/ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ControlAllocation
 {

diff --git a/...cation/ControlAllocationPseudoInverse.cpp → ...cation/ControlAllocationPseudoInverse.cpp b/...cation/ControlAllocationPseudoInverse.cpp → ...cation/ControlAllocationPseudoInverse.cpp
diff --git a/...cation/ControlAllocationPseudoInverse.hpp → ...cation/ControlAllocationPseudoInverse.hpp b/...cation/ControlAllocationPseudoInverse.hpp → ...cation/ControlAllocationPseudoInverse.hpp
diff --git a/...on/ControlAllocationPseudoInverseTest.cpp → ...on/ControlAllocationPseudoInverseTest.cpp b/...on/ControlAllocationPseudoInverseTest.cpp → ...on/ControlAllocationPseudoInverseTest.cpp
diff --git a/...ntrolAllocationSequentialDesaturation.cpp → ...ntrolAllocationSequentialDesaturation.cpp b/...ntrolAllocationSequentialDesaturation.cpp → ...ntrolAllocationSequentialDesaturation.cpp
diff --git a/...ntrolAllocationSequentialDesaturation.hpp → ...ntrolAllocationSequentialDesaturation.hpp b/...ntrolAllocationSequentialDesaturation.hpp → ...ntrolAllocationSequentialDesaturation.hpp
diff --git a/...lAllocationSequentialDesaturationTest.cpp → ...lAllocationSequentialDesaturationTest.cpp b/...lAllocationSequentialDesaturationTest.cpp → ...lAllocationSequentialDesaturationTest.cpp
@@ -40,7 +40,7 @@
 
 #include <gtest/gtest.h>
 #include <ControlAllocationSequentialDesaturation.hpp>
-#include <../ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp>
+#include <actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
 
 using namespace matrix;
 

diff --git a/src/modules/control_allocator/CMakeLists.txt b/src/modules/control_allocator/CMakeLists.txt
@@ -32,8 +32,7 @@
 ############################################################################
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-add_subdirectory(ActuatorEffectiveness)
-add_subdirectory(ControlAllocation)
+add_subdirectory(VehicleActuatorEffectiveness)
 
 px4_add_module(
 	MODULE modules__control_allocator
@@ -50,6 +49,7 @@ px4_add_module(
 	DEPENDS
 		mathlib
 		ActuatorEffectiveness
+		VehicleActuatorEffectiveness
 		ControlAllocation
 		px4_work_queue
 		SlewRate

diff --git a/.../ActuatorEffectivenessControlSurfaces.cpp → .../ActuatorEffectivenessControlSurfaces.cpp b/.../ActuatorEffectivenessControlSurfaces.cpp → .../ActuatorEffectivenessControlSurfaces.cpp
diff --git a/.../ActuatorEffectivenessControlSurfaces.hpp → .../ActuatorEffectivenessControlSurfaces.hpp b/.../ActuatorEffectivenessControlSurfaces.hpp → .../ActuatorEffectivenessControlSurfaces.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <lib/slew_rate/SlewRate.hpp>

diff --git a/...ctiveness/ActuatorEffectivenessCustom.cpp → ...ctiveness/ActuatorEffectivenessCustom.cpp b/...ctiveness/ActuatorEffectivenessCustom.cpp → ...ctiveness/ActuatorEffectivenessCustom.cpp
diff --git a/...ctiveness/ActuatorEffectivenessCustom.hpp → ...ctiveness/ActuatorEffectivenessCustom.hpp b/...ctiveness/ActuatorEffectivenessCustom.hpp → ...ctiveness/ActuatorEffectivenessCustom.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

diff --git a/...veness/ActuatorEffectivenessFixedWing.cpp → ...veness/ActuatorEffectivenessFixedWing.cpp b/...veness/ActuatorEffectivenessFixedWing.cpp → ...veness/ActuatorEffectivenessFixedWing.cpp
diff --git a/...veness/ActuatorEffectivenessFixedWing.hpp → ...veness/ActuatorEffectivenessFixedWing.hpp b/...veness/ActuatorEffectivenessFixedWing.hpp → ...veness/ActuatorEffectivenessFixedWing.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

diff --git a/...eness/ActuatorEffectivenessHelicopter.cpp → ...eness/ActuatorEffectivenessHelicopter.cpp b/...eness/ActuatorEffectivenessHelicopter.cpp → ...eness/ActuatorEffectivenessHelicopter.cpp
diff --git a/...eness/ActuatorEffectivenessHelicopter.hpp → ...eness/ActuatorEffectivenessHelicopter.hpp b/...eness/ActuatorEffectivenessHelicopter.hpp → ...eness/ActuatorEffectivenessHelicopter.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

diff --git a/...ctuatorEffectivenessHelicopterCoaxial.cpp → ...ctuatorEffectivenessHelicopterCoaxial.cpp b/...ctuatorEffectivenessHelicopterCoaxial.cpp → ...ctuatorEffectivenessHelicopterCoaxial.cpp
diff --git a/...ctuatorEffectivenessHelicopterCoaxial.hpp → ...ctuatorEffectivenessHelicopterCoaxial.hpp b/...ctuatorEffectivenessHelicopterCoaxial.hpp → ...ctuatorEffectivenessHelicopterCoaxial.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

diff --git a/...s/ActuatorEffectivenessHelicopterTest.cpp → ...s/ActuatorEffectivenessHelicopterTest.cpp b/...s/ActuatorEffectivenessHelicopterTest.cpp → ...s/ActuatorEffectivenessHelicopterTest.cpp
diff --git a/...ctiveness/ActuatorEffectivenessMCTilt.cpp → ...ctiveness/ActuatorEffectivenessMCTilt.cpp b/...ctiveness/ActuatorEffectivenessMCTilt.cpp → ...ctiveness/ActuatorEffectivenessMCTilt.cpp
diff --git a/...ctiveness/ActuatorEffectivenessMCTilt.hpp → ...ctiveness/ActuatorEffectivenessMCTilt.hpp b/...ctiveness/ActuatorEffectivenessMCTilt.hpp → ...ctiveness/ActuatorEffectivenessMCTilt.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessTilts.hpp"
 

diff --git a/...eness/ActuatorEffectivenessMultirotor.cpp → ...eness/ActuatorEffectivenessMultirotor.cpp b/...eness/ActuatorEffectivenessMultirotor.cpp → ...eness/ActuatorEffectivenessMultirotor.cpp
diff --git a/...eness/ActuatorEffectivenessMultirotor.hpp → ...eness/ActuatorEffectivenessMultirotor.hpp b/...eness/ActuatorEffectivenessMultirotor.hpp → ...eness/ActuatorEffectivenessMultirotor.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessMultirotor : public ModuleParams, public ActuatorEffectiveness

diff --git a/...ctiveness/ActuatorEffectivenessRotors.cpp → ...ctiveness/ActuatorEffectivenessRotors.cpp b/...ctiveness/ActuatorEffectivenessRotors.cpp → ...ctiveness/ActuatorEffectivenessRotors.cpp
diff --git a/...ctiveness/ActuatorEffectivenessRotors.hpp → ...ctiveness/ActuatorEffectivenessRotors.hpp b/...ctiveness/ActuatorEffectivenessRotors.hpp → ...ctiveness/ActuatorEffectivenessRotors.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>

diff --git a/...eness/ActuatorEffectivenessRotorsTest.cpp → ...eness/ActuatorEffectivenessRotorsTest.cpp b/...eness/ActuatorEffectivenessRotorsTest.cpp → ...eness/ActuatorEffectivenessRotorsTest.cpp
diff --git a/...s/ActuatorEffectivenessRoverAckermann.cpp → ...s/ActuatorEffectivenessRoverAckermann.cpp b/...s/ActuatorEffectivenessRoverAckermann.cpp → ...s/ActuatorEffectivenessRoverAckermann.cpp
diff --git a/...s/ActuatorEffectivenessRoverAckermann.hpp → ...s/ActuatorEffectivenessRoverAckermann.hpp b/...s/ActuatorEffectivenessRoverAckermann.hpp → ...s/ActuatorEffectivenessRoverAckermann.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ActuatorEffectivenessRoverAckermann : public ActuatorEffectiveness
 {

diff --git a/...ess/ActuatorEffectivenessStandardVTOL.cpp → ...ess/ActuatorEffectivenessStandardVTOL.cpp b/...ess/ActuatorEffectivenessStandardVTOL.cpp → ...ess/ActuatorEffectivenessStandardVTOL.cpp
diff --git a/...ess/ActuatorEffectivenessStandardVTOL.hpp → ...ess/ActuatorEffectivenessStandardVTOL.hpp b/...ess/ActuatorEffectivenessStandardVTOL.hpp → ...ess/ActuatorEffectivenessStandardVTOL.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

diff --git a/...s/ActuatorEffectivenessTailsitterVTOL.cpp → ...s/ActuatorEffectivenessTailsitterVTOL.cpp b/...s/ActuatorEffectivenessTailsitterVTOL.cpp → ...s/ActuatorEffectivenessTailsitterVTOL.cpp
diff --git a/...s/ActuatorEffectivenessTailsitterVTOL.hpp → ...s/ActuatorEffectivenessTailsitterVTOL.hpp b/...s/ActuatorEffectivenessTailsitterVTOL.hpp → ...s/ActuatorEffectivenessTailsitterVTOL.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

diff --git a/...ss/ActuatorEffectivenessTiltrotorVTOL.cpp → ...ss/ActuatorEffectivenessTiltrotorVTOL.cpp b/...ss/ActuatorEffectivenessTiltrotorVTOL.cpp → ...ss/ActuatorEffectivenessTiltrotorVTOL.cpp
diff --git a/...ss/ActuatorEffectivenessTiltrotorVTOL.hpp → ...ss/ActuatorEffectivenessTiltrotorVTOL.hpp b/...ss/ActuatorEffectivenessTiltrotorVTOL.hpp → ...ss/ActuatorEffectivenessTiltrotorVTOL.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 #include "ActuatorEffectivenessTilts.hpp"

diff --git a/...ectiveness/ActuatorEffectivenessTilts.cpp → ...ectiveness/ActuatorEffectivenessTilts.cpp b/...ectiveness/ActuatorEffectivenessTilts.cpp → ...ectiveness/ActuatorEffectivenessTilts.cpp
diff --git a/...ectiveness/ActuatorEffectivenessTilts.hpp → ...ectiveness/ActuatorEffectivenessTilts.hpp b/...ectiveness/ActuatorEffectivenessTilts.hpp → ...ectiveness/ActuatorEffectivenessTilts.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 #include <px4_platform_common/module_params.h>

diff --git a/...ffectiveness/ActuatorEffectivenessUUV.cpp → ...ffectiveness/ActuatorEffectivenessUUV.cpp b/...ffectiveness/ActuatorEffectivenessUUV.cpp → ...ffectiveness/ActuatorEffectivenessUUV.cpp
diff --git a/...ffectiveness/ActuatorEffectivenessUUV.hpp → ...ffectiveness/ActuatorEffectivenessUUV.hpp b/...ffectiveness/ActuatorEffectivenessUUV.hpp → ...ffectiveness/ActuatorEffectivenessUUV.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessUUV : public ModuleParams, public ActuatorEffectiveness

diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt b/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt
@@ -0,0 +1,43 @@
+px4_add_library(VehicleActuatorEffectiveness
+	ActuatorEffectivenessUUV.cpp
+	ActuatorEffectivenessUUV.hpp
+	ActuatorEffectivenessControlSurfaces.cpp
+	ActuatorEffectivenessControlSurfaces.hpp
+	ActuatorEffectivenessCustom.cpp
+	ActuatorEffectivenessCustom.hpp
+	ActuatorEffectivenessFixedWing.cpp
+	ActuatorEffectivenessFixedWing.hpp
+	ActuatorEffectivenessHelicopter.cpp
+	ActuatorEffectivenessHelicopter.hpp
+	ActuatorEffectivenessHelicopterCoaxial.cpp
+	ActuatorEffectivenessHelicopterCoaxial.hpp
+	ActuatorEffectivenessMCTilt.cpp
+	ActuatorEffectivenessMCTilt.hpp
+	ActuatorEffectivenessMultirotor.cpp
+	ActuatorEffectivenessMultirotor.hpp
+	ActuatorEffectivenessTilts.cpp
+	ActuatorEffectivenessTilts.hpp
+	ActuatorEffectivenessRotors.cpp
+	ActuatorEffectivenessRotors.hpp
+	ActuatorEffectivenessStandardVTOL.cpp
+	ActuatorEffectivenessStandardVTOL.hpp
+	ActuatorEffectivenessTiltrotorVTOL.cpp
+	ActuatorEffectivenessTiltrotorVTOL.hpp
+	ActuatorEffectivenessTailsitterVTOL.cpp
+	ActuatorEffectivenessTailsitterVTOL.hpp
+	ActuatorEffectivenessRoverAckermann.hpp
+	ActuatorEffectivenessRoverAckermann.cpp
+	RpmControl.hpp
+	RpmControl.cpp
+)
+
+target_compile_options(VehicleActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_include_directories(VehicleActuatorEffectiveness PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(VehicleActuatorEffectiveness
+	PRIVATE
+		mathlib
+		ActuatorEffectiveness
+)
+
+px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS VehicleActuatorEffectiveness)
+px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS VehicleActuatorEffectiveness)
diff --git a/...ator/ActuatorEffectiveness/RpmControl.cpp → ...hicleActuatorEffectiveness/RpmControl.cpp b/...ator/ActuatorEffectiveness/RpmControl.cpp → ...hicleActuatorEffectiveness/RpmControl.cpp
diff --git a/...ator/ActuatorEffectiveness/RpmControl.hpp → ...hicleActuatorEffectiveness/RpmControl.hpp b/...ator/ActuatorEffectiveness/RpmControl.hpp → ...hicleActuatorEffectiveness/RpmControl.hpp