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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_module/mixer_module.cpp
+13 -7
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@@ -49,7 +49,9 @@ MixingOutput::MixingOutput(uint8_t max_num_outputs, OutputModuleInterface &inter
{&interface, ORB_ID(actuator_controls_0)},
{&interface, ORB_ID(actuator_controls_1)},
{&interface, ORB_ID(actuator_controls_2)},
{&interface, ORB_ID(actuator_controls_3)}
{&interface, ORB_ID(actuator_controls_3)},
{&interface, ORB_ID(actuator_controls_4)},
{&interface, ORB_ID(actuator_controls_5)},
},
_scheduling_policy(scheduling_policy),
_support_esc_calibration(support_esc_calibration),
@@ -536,9 +538,11 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
/* motor spinup phase - lock throttle to zero */
if (output->_output_limit.state == OUTPUT_LIMIT_STATE_RAMP) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
if (((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) ||
(control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART1 ||
control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART2)) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
*/
@@ -548,9 +552,11 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
/* throttle not arming - mark throttle input as invalid */
if (output->armNoThrottle() && !output->_armed.in_esc_calibration_mode) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
if (((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) ||
(control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART1 ||
control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART2)) {
/* set the throttle to an invalid value */
input = NAN;
}