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Rework flaps/spoilers logic

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- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller

FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).

VTOL: Rework spoiler publishing in hover

- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode

Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change

Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-12-20 13:29:34 +01:00
parent 16594bffa9
commit 1e56d9c219
37 changed files with 468 additions and 398 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/module.yaml
+130 -2
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@@ -266,12 +266,14 @@ parameters:
8: Right V-Tail
9: Left Flap
10: Right Flap
11: Airbrakes
11: Airbrake
12: Custom
13: Left A-tail
14: Right A-tail
15: Single Channel Aileron
16: Steering Wheel
17: Left Spoiler
18: Right Spoiler
num_instances: *max_num_servos
instance_start: 0
default: 0
@@ -302,6 +304,7 @@ parameters:
num_instances: *max_num_servos
instance_start: 0
default: 0.0
CA_SV_CS${i}_TRIM:
description:
short: Control Surface ${i} trim
@@ -314,6 +317,28 @@ parameters:
instance_start: 0
default: 0.0
CA_SV_CS${i}_FLAP:
description:
short: Control Surface ${i} configuration as flap
type: float
decimal: 2
min: -1.0
max: 1.0
num_instances: *max_num_servos
instance_start: 0
default: 0
CA_SV_CS${i}_SPOIL:
description:
short: Control Surface ${i} configuration as spoiler
type: float
decimal: 2
min: -1.0
max: 1.0
num_instances: *max_num_servos
instance_start: 0
default: 0
# Tilts
CA_SV_TL_COUNT:
description:
@@ -534,7 +559,7 @@ mixer:
rules:
- select_identifier: 'servo-type' # restrict torque based on servo type
apply_identifiers: ['servo-torque-roll', 'servo-torque-pitch', 'servo-torque-yaw']
apply_identifiers: ['servo-torque-roll', 'servo-torque-pitch', 'servo-torque-yaw', 'servo-scale-flap', 'servo-scale-spoiler']
items:
# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
# By default the scale is set to 1/N, where N is the amount of actuators with an effect on
@@ -543,54 +568,117 @@ mixer:
- { 'disabled': True, 'default': 0.0 } # roll
- { 'disabled': True, 'default': 0.0 } # pitch
- { 'disabled': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
1: # Left Aileron
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
2: # Right Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
3: # Elevator
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
4: # Rudder
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
5: # Left Elevon
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
6: # Right Elevon
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
7: # Left V Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
8: # Right V Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
9: # Left Flap
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
10: # Right Flap
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
11: # Airbrake
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
12: # Custom
- { 'hidden': False, 'default': 0.0 } # roll
- { 'hidden': False, 'default': 0.0 } # pitch
- { 'hidden': False, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
13: # Left A Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
14: # Right A Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
15: # Single Channel Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
16: # Steering Wheel
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
17: # Left Spoiler
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # spoiler
18: # Right Spoiler
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # spoiler
- select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters
apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter']
@@ -662,6 +750,14 @@ mixer:
identifier: 'servo-torque-yaw'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
2: # Standard VTOL
title: 'Standard VTOL'
@@ -706,6 +802,14 @@ mixer:
identifier: 'servo-torque-yaw'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
@@ -747,6 +851,14 @@ mixer:
identifier: 'servo-torque-yaw'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
@@ -800,6 +912,14 @@ mixer:
identifier: 'servo-torque-yaw-tailsitter'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
@@ -912,6 +1032,14 @@ mixer:
label: 'Yaw Scale'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
10: # Helicopter
actuators: