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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
2021-01-18 11:25:37 -05:00
committed by Daniel Agar
co-authored by Silvan Fuhrer Roman Bapst
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
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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