fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-17 17:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ControlAllocation: update normalization scale only if matrix updated is forced

Browse Source 
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-01-10 14:03:52 +01:00
committed by Beat Küng
parent 258a563dd5
commit 0950bb81ab
7 changed files with 53 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+11 -2
View File
@@ -60,8 +60,14 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config
// MC motors
configuration.selected_matrix = 0;
_mc_rotors.enableYawControl(!_tilts.hasYawControl());
_nontilted_motors = _mc_rotors.updateAxisFromTilts(_tilts, _last_tilt_control)
// Update matrix with tilts in vertical position when update is triggered by a manual
// configuration (parameter) change (=force update). This is to make sure the normalization
// scales are tilt-invariant. Note: force update only possible when disarm.
const float tilt_control_applied = force ? -1.f : _last_tilt_control;
_nontilted_motors = _mc_rotors.updateAxisFromTilts(_tilts, tilt_control_applied)
<< configuration.num_actuators[(int)ActuatorType::MOTORS];
_mc_rotors.getEffectivenessMatrix(configuration, true);
// Control Surfaces
@@ -75,7 +81,10 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config
_tilts.updateTorqueSign(_mc_rotors.geometry(), true /* disable pitch to avoid configuration errors */);
_tilts.getEffectivenessMatrix(configuration, true);
_updated = false;
// If it was a forced update (thus coming from a config change), then make sure to update matrix in
// the next iteration again with the correct tilt (but without updating the normalization scale).
_updated = force;
return true;
}