feat: spacecraft support (#24734)

* rft: initial merging of controllers for spacecraft vehicles * feat: rate controller nominal * feat: spacecraft tooling for commander and VehicleStatus * feat: spacecraft tooling for commander and VehicleStatus * fix: format * fix: format * fix: remove iostream * fix: remove iostream * feat: spacecraft attitude control and minor refactoring of params * feat: add position controller * fix: format * fix: moved trajectories to new message, removed derivative filters * fix: format * fix: removed extra newline * fix: spacecraft allocation builds * feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments * feat: required changes for allocation * feat: thruster simulation interface * fix: update maximum and minimums * fix: format * fix: added newline at the end of spacecraft actuator effectiveness * feat: configurable board pwm freq from Kconfig * feat: mavlink compliant spacecraft definition * feat: add orbiter to define * boards: Increase TELEM2 rx buffer size for DDS over serial use-case (ARK Jetson) feat: spacecraft tooling for commander and VehicleStatus fix: format fix: remove iostream feat: mavlink compliant spacecraft definition * feat: add orbiter to define * feat: add orbiter to define * fix: change mav_type to new spacecraft orbiter enum value * fix: build issue * feat: update mavlink * feat: update mavlink to latest master with spacecraft * feat: update mavlink * feat: update mavlink to latest * feat: cleanup and synchronization with new mavlink vehicle definition * fix: get away without specifying spacecraft vehicle * fix: removed unnecessary definition * fix: format * feat: cmake variant for spacecraft * feat: proper mav_type and rc init * fix: removed dart from build system * add: thrusters to actuator type * rft: reordering actuator type * rft: initial merging of controllers for spacecraft vehicles * feat: rate controller nominal * fix: format * feat: spacecraft attitude control and minor refactoring of params * feat: add position controller * fix: format * fix: moved trajectories to new message, removed derivative filters * fix: format * fix: removed extra newline * fix: spacecraft allocation builds * feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments * feat: required changes for allocation * feat: thruster simulation interface * fix: update maximum and minimums * fix: format * fix: added newline at the end of spacecraft actuator effectiveness * feat: configurable board pwm freq from Kconfig * feat: add orbiter to define * feat: cleanup and synchronization with new mavlink vehicle definition * fix: get away without specifying spacecraft vehicle * fix: conflicts * fix: format * fix: remove duplicate entry * rft: remove Kconfig changes * rft: revert main Kconfig * rft: revert main kcoonfig on platforms * rft: remove changes to board PWm (go on another PR) * rft: revert changes to commander (main is correct) * fix: extra char on commander_helper * rft: removed extra spaces * rft: moved effectiveness to spacecraft * fix: spacecraft effectiveness * fix: extra space * feat: preliminary version, still using thrusters * rft: initial pipeline on PX4 side with rotors instead of thrusters * feat: add atmos model * feat: spacecraft with rotor pipeline tested, working * feat: update gz * rft: removed thruster interfaces * fix: format * fix: remove control allocation * fix: thruster normalization * fix: format * fix: nuttx version * fix: clang tidy error * feat: updated gz to add atmos model * fix: update gz * fix: update mavlink * fix: remove friend class from allocation lib * fix: remove actuator_outputs/motors --------- Co-authored-by: Alexander Lerach <alexander@auterion.com>
2026-06-26 00:00:35 +08:00 · 2025-07-23 17:26:27 +02:00
parent 6474e5d7c1
commit 2f55dff8b9
45 changed files with 5573 additions and 361 deletions
@@ -266,11 +266,11 @@ ControlAllocator::update_effectiveness_source()
 			break;

 		case EffectivenessSource::SPACECRAFT_2D:
-			// spacecraft_allocation does allocation and publishes directly to actuator_motors topic
+			tmp = new ActuatorEffectivenessSpacecraft(this);
 			break;

 		case EffectivenessSource::SPACECRAFT_3D:
-			// spacecraft_allocation does allocation and publishes directly to actuator_motors topic
+			tmp = new ActuatorEffectivenessSpacecraft(this);
 			break;

 		default:
@@ -53,6 +53,7 @@
 #include <ActuatorEffectivenessUUV.hpp>
 #include <ActuatorEffectivenessHelicopter.hpp>
 #include <ActuatorEffectivenessHelicopterCoaxial.hpp>
+#include <ActuatorEffectivenessSpacecraft.hpp>

 #include <ControlAllocation.hpp>
 #include <ControlAllocationPseudoInverse.hpp>
@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 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.
+ *
+ ****************************************************************************/
+
+#include "ActuatorEffectivenessSpacecraft.hpp"
+
+using namespace matrix;
+
+ActuatorEffectivenessSpacecraft::ActuatorEffectivenessSpacecraft(ModuleParams *parent)
+	: ModuleParams(parent),
+	  _sc_thrusters(this)
+{
+}
+
+bool
+ActuatorEffectivenessSpacecraft::getEffectivenessMatrix(Configuration &configuration,
+		EffectivenessUpdateReason external_update)
+{
+	if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
+		return false;
+	}
+
+	// Thrusters
+	const bool thrusters_added_successfully = _sc_thrusters.addActuators(configuration);
+
+	return thrusters_added_successfully;
+}
+
+void ActuatorEffectivenessSpacecraft::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+		const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
+{
+	// TODO(@E-Krantz): Here is where we can add the nonlinearity of multiple thrusters open
+	//   and how to adjust thrust in that time
+}
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "ActuatorEffectivenessRotors.hpp"
+
+class ActuatorEffectivenessSpacecraft : public ModuleParams, public ActuatorEffectiveness
+{
+public:
+	ActuatorEffectivenessSpacecraft(ModuleParams *parent);
+	virtual ~ActuatorEffectivenessSpacecraft() = default;
+
+	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
+
+	void getDesiredAllocationMethod(AllocationMethod allocation_method_out[MAX_NUM_MATRICES]) const
+	override
+	{
+		// TODO(@Jaeyoung-Lim): to be updated
+		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
+	}
+
+	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	{
+		// TODO(@Jaeyoung-Lim): to be updated
+		normalize[0] = true;
+	}
+
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+			    const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
+
+	const char *name() const override { return "Spacecraft"; }
+
+protected:
+	ActuatorEffectivenessRotors _sc_thrusters;
+};
@@ -19,6 +19,8 @@ px4_add_library(VehicleActuatorEffectiveness
 	ActuatorEffectivenessTilts.hpp
 	ActuatorEffectivenessRotors.cpp
 	ActuatorEffectivenessRotors.hpp
+	ActuatorEffectivenessSpacecraft.cpp
+	ActuatorEffectivenessSpacecraft.hpp
 	ActuatorEffectivenessStandardVTOL.cpp
 	ActuatorEffectivenessStandardVTOL.hpp
 	ActuatorEffectivenessTiltrotorVTOL.cpp