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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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src/lib/mixer/MixerGroup.cpp
+5
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@@ -39,6 +39,7 @@
#include "MixerGroup.hpp"
#include "AllocatedActuatorMixer/AllocatedActuatorMixer.hpp"
#include "HelicopterMixer/HelicopterMixer.hpp"
#include "MultirotorMixer/MultirotorMixer.hpp"
#include "NullMixer/NullMixer.hpp"
@@ -192,6 +193,10 @@ MixerGroup::load_from_buf(Mixer::ControlCallback control_cb, uintptr_t cb_handle
m = NullMixer::from_text(p, resid);
break;
case 'A':
m = AllocatedActuatorMixer::from_text(control_cb, cb_handle, p, resid);
break;
case 'M':
m = SimpleMixer::from_text(control_cb, cb_handle, p, resid);
break;