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delete SYS_CTRL_ALLOC

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent 13f9eabd70
commit 15fece7e14
17 changed files with 46 additions and 245 deletions
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src/modules/simulation/simulator_sih/sih.cpp
+7 -25
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@@ -82,9 +82,7 @@ void Sih::run()
_vehicle = (VehicleType)constrain(_sih_vtype.get(), static_cast<typeof _sih_vtype.get()>(0),
static_cast<typeof _sih_vtype.get()>(2));
if (_sys_ctrl_alloc.get()) {
_actuator_out_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
}
_actuator_out_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
lockstep_loop();
@@ -369,32 +367,16 @@ void Sih::read_motors()
{
actuator_outputs_s actuators_out;
float pwm_middle = 0.5f * (PWM_DEFAULT_MIN + PWM_DEFAULT_MAX);
if (_actuator_out_sub.update(&actuators_out)) {
_last_actuator_output_time = actuators_out.timestamp;
if (_sys_ctrl_alloc.get()) {
for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS && i > 3)) {
_u[i] = actuators_out.output[i];
for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS && i > 3)) {
_u[i] = actuators_out.output[i];
} else {
float u_sp = actuators_out.output[i];
_u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau
}
}
} else {
for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS
&& i > 3)) { // control surfaces in range [-1,1]
_u[i] = constrain(2.0f * (actuators_out.output[i] - pwm_middle) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), -1.0f, 1.0f);
} else { // throttle signals in range [0,1]
float u_sp = constrain((actuators_out.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), 0.0f, 1.0f);
_u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau
}
} else {
float u_sp = actuators_out.output[i];
_u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau
}
}
}
src/modules/simulation/simulator_sih/sih.hpp
+1 -2
View File
@@ -327,7 +327,6 @@ private:
(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _sih_distance_snsr_max,
(ParamFloat<px4::params::SIH_DISTSNSR_OVR>) _sih_distance_snsr_override,
(ParamFloat<px4::params::SIH_T_TAU>) _sih_thrust_tau,
(ParamInt<px4::params::SIH_VEHICLE_TYPE>) _sih_vtype,
(ParamBool<px4::params::SYS_CTRL_ALLOC>) _sys_ctrl_alloc
(ParamInt<px4::params::SIH_VEHICLE_TYPE>) _sih_vtype
)
};