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initial control allocation support

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- control allocation module with multirotor, VTOL standard, and tiltrotor support
 - angular_velocity_controller
 - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
This commit is contained in:
Julien Lecoeur
2021-01-10 11:30:23 -05:00
committed by Daniel Agar
parent fc6b61dad1
commit 343cf5603e
68 changed files with 6129 additions and 17 deletions
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ROMFS/px4fmu_common/init.d-posix/10017_iris_ctrlalloc
+52
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#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#
sh /etc/init.d/rc.mc_defaults
sh /etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_USE_HTE 0
param set VM_MASS 1.5
param set VM_INERTIA_XX 0.03
param set VM_INERTIA_YY 0.03
param set VM_INERTIA_ZZ 0.05
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set CA_MC_R0_PX 0.1515
param set CA_MC_R0_PY 0.245
param set CA_MC_R0_CT 6.5
param set CA_MC_R0_KM 0.05
param set CA_MC_R1_PX -0.1515
param set CA_MC_R1_PY -0.1875
param set CA_MC_R1_CT 6.5
param set CA_MC_R1_KM 0.05
param set CA_MC_R2_PX 0.1515
param set CA_MC_R2_PY -0.245
param set CA_MC_R2_CT 6.5
param set CA_MC_R2_KM -0.05
param set CA_MC_R3_PX -0.1515
param set CA_MC_R3_PY 0.1875
param set CA_MC_R3_CT 6.5
param set CA_MC_R3_KM -0.05
fi
set MIXER direct
ROMFS/px4fmu_common/init.d-posix/6012_typhoon_ctrlalloc
+75
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#!/bin/sh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#
sh /etc/init.d/rc.mc_defaults
sh /etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_P_ACC 3
param set RTL_DESCEND_ALT 10
param set RTL_LAND_DELAY 0
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 0
param set MAV_PROTO_VER 2
param set MPC_USE_HTE 0
param set VM_MASS 2.66
param set VM_INERTIA_XX 0.06
param set VM_INERTIA_YY 0.06
param set VM_INERTIA_ZZ 0.10
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT4_MIN 0.0
param set CA_ACT5_MIN 0.0
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set CA_ACT4_MAX 1.0
param set CA_ACT5_MAX 1.0
param set CA_MC_R0_PX 0.0
param set CA_MC_R0_PY 1.0
param set CA_MC_R0_CT 9.5
param set CA_MC_R0_KM -0.05
param set CA_MC_R1_PX 0.0
param set CA_MC_R1_PY -1.0
param set CA_MC_R1_CT 9.5
param set CA_MC_R1_KM 0.05
param set CA_MC_R2_PX 0.866025
param set CA_MC_R2_PY -0.5
param set CA_MC_R2_CT 9.5
param set CA_MC_R2_KM -0.05
param set CA_MC_R3_PX -0.866025
param set CA_MC_R3_PY 0.5
param set CA_MC_R3_CT 9.5
param set CA_MC_R3_KM 0.05
param set CA_MC_R4_PX 0.866025
param set CA_MC_R4_PY 0.5
param set CA_MC_R4_CT 9.5
param set CA_MC_R4_KM 0.05
param set CA_MC_R5_PX -0.866025
param set CA_MC_R5_PY -0.5
param set CA_MC_R5_CT 9.5
param set CA_MC_R5_KM -0.05
fi
set MAV_TYPE 13
# set MIXER hexa_x
set MIXER direct
ROMFS/px4fmu_common/init.d-posix/6012_typhoon_ctrlalloc.post
+10
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@@ -0,0 +1,10 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
# shellcheck disable=SC2154
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
ROMFS/px4fmu_common/init.d/CMakeLists.txt
+1
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@@ -54,4 +54,5 @@ px4_add_romfs_files(
rc.vehicle_setup
rc.vtol_apps
rc.vtol_defaults
rc.ctrlalloc
)
ROMFS/px4fmu_common/init.d/airframes/4017_s500_ctrlalloc
+57
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@@ -0,0 +1,57 @@
#!/bin/sh
#
# @name S500 with control allocation
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Silvan Fuhrer
#
sh /etc/init.d/rc.mc_defaults
sh /etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_USE_HTE 0
param set VM_MASS 1.5
param set VM_INERTIA_XX 0.03
param set VM_INERTIA_YY 0.03
param set VM_INERTIA_ZZ 0.05
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set CA_MC_R0_PX 0.177
param set CA_MC_R0_PY 0.177
param set CA_MC_R0_CT 6.5
param set CA_MC_R0_KM 0.05
param set CA_MC_R1_PX -0.177
param set CA_MC_R1_PY -0.177
param set CA_MC_R1_CT 6.5
param set CA_MC_R1_KM 0.05
param set CA_MC_R2_PX 0.177
param set CA_MC_R2_PY -0.177
param set CA_MC_R2_CT 6.5
param set CA_MC_R2_KM -0.05
param set CA_MC_R3_PX -0.177
param set CA_MC_R3_PY 0.177
param set CA_MC_R3_CT 6.5
param set CA_MC_R3_KM -0.05
fi
set MIXER direct
set PWM_OUT 1234
set MIXER_AUX direct_aux
set PWM_AUX_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/6002_hexa_x_ctrlalloc
+75
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@@ -0,0 +1,75 @@
#!/bin/sh
#
# @name Hex X with control allocation
#
# @type Hexarotor x
# @class Copter
#
# @maintainer Silvan Fuhrer
#
sh /etc/init.d/rc.mc_defaults
sh /etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_USE_HTE 0
param set VM_MASS 1.5
param set VM_INERTIA_XX 0.03
param set VM_INERTIA_YY 0.03
param set VM_INERTIA_ZZ 0.05
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT4_MIN 0.0
param set CA_ACT5_MIN 0.0
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set CA_ACT4_MAX 1.0
param set CA_ACT5_MAX 1.0
param set CA_MC_R0_PX 0.0
param set CA_MC_R0_PY 0.275
param set CA_MC_R0_CT 6.5
param set CA_MC_R0_KM -0.05
param set CA_MC_R1_PX 0.0
param set CA_MC_R1_PY -0.275
param set CA_MC_R1_CT 6.5
param set CA_MC_R1_KM 0.05
param set CA_MC_R2_PX 0.238
param set CA_MC_R2_PY -0.1375
param set CA_MC_R2_CT 6.5
param set CA_MC_R2_KM -0.05
param set CA_MC_R3_PX -0.238
param set CA_MC_R3_PY 0.1375
param set CA_MC_R3_CT 6.5
param set CA_MC_R3_KM 0.05
param set CA_MC_R4_PX 0.238
param set CA_MC_R4_PY 0.1375
param set CA_MC_R4_CT 6.5
param set CA_MC_R4_KM 0.05
param set CA_MC_R5_PX -0.238
param set CA_MC_R5_PY -0.1375
param set CA_MC_R5_CT 6.5
param set CA_MC_R5_KM -0.05
fi
set MIXER direct
set PWM_OUT 123456
set MIXER_AUX direct_aux
set PWM_AUX_OUT 123456
ROMFS/px4fmu_common/init.d/rc.ctrlalloc
+26
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@@ -0,0 +1,26 @@
#!/bin/sh
#
# Standard apps for new control allocation and controllers
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start angular velocity controller
#
angular_velocity_controller start
mc_rate_control stop
#
# Start Control Allocator
#
control_allocator start
#
# Disable hover thrust estimator and prearming
# These features are currently incompatible with control allocation
#
# TODO: fix
#
param set MPC_USE_HTE 0
param set COM_PREARM_MODE 0
ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
+1
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@@ -43,4 +43,5 @@ px4_add_romfs_files(
tiltrotor_sitl.main.mix
uuv_x_sitl.main.mix
vectored6dof_sitl.main.mix
tiltrotor_sitl_direct.main.mix
)
ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl_direct.main.mix
+14
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@@ -0,0 +1,14 @@
Mixer for quad tiltrotor (x motor configuration)
================================================
A: 0
A: 1
A: 2
A: 3
A: 4
A: 5
A: 6
A: 7
A: 8
A: 9
A: 10
ROMFS/px4fmu_common/mixers/CMakeLists.txt
+1
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@@ -47,6 +47,7 @@ px4_add_romfs_files(
coax.main.mix
delta.main.mix
deltaquad.main.mix
direct.main.mix
dodeca_bottom_cox.aux.mix
dodeca_top_cox.main.mix
firefly6.aux.mix
ROMFS/px4fmu_common/mixers/direct.main.mix
+10
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@@ -0,0 +1,10 @@
# Direct mixer
A: 0
A: 1
A: 2
A: 3
A: 4
A: 5
A: 6
A: 7