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control_allocator: change SequentialDesaturation to existing MC mixer

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And limit the operations to the number of configured outputs.

Only using the number of configured actuators reduces CPU load by ~2% on
F7 @1khz.
This commit is contained in:
Beat Küng
2020-08-13 08:20:47 +02:00
committed by Daniel Agar
parent 308f614735
commit 0e66b0876b
12 changed files with 259 additions and 82 deletions
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src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+7 -4
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@@ -105,7 +105,7 @@ public:
* @param B Effectiveness matrix
*/
virtual void setEffectivenessMatrix(const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_trim);
const matrix::Vector<float, NUM_ACTUATORS> &actuator_trim, int num_actuators);
/**
* Get the allocated actuator vector
@@ -187,10 +187,8 @@ public:
* The output is in the range [min; max]
*
* @param actuator Actuator vector to clip
*
* @return Clipped actuator setpoint
*/
matrix::Vector<float, NUM_ACTUATORS> clipActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator) const;
void clipActuatorSetpoint(matrix::Vector<float, NUM_ACTUATORS> &actuator) const;
/**
* Normalize the actuator setpoint between minimum and maximum values.
@@ -204,6 +202,10 @@ public:
matrix::Vector<float, NUM_ACTUATORS> normalizeActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator)
const;
virtual void updateParameters() {}
int numConfiguredActuators() const { return _num_actuators; }
protected:
matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> _effectiveness; //< Effectiveness matrix
matrix::Vector<float, NUM_ACTUATORS> _actuator_trim; //< Neutral actuator values
@@ -213,4 +215,5 @@ protected:
matrix::Vector<float, NUM_AXES> _control_sp; //< Control setpoint
matrix::Vector<float, NUM_AXES> _control_allocated; //< Allocated control
matrix::Vector<float, NUM_AXES> _control_trim; //< Control at trim actuator values
int _num_actuators{0};
};