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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/6012_typhoon_ctrlalloc
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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