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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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src/lib/parameters/px4params/srcparser.py
+7 -7
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@@ -333,7 +333,7 @@ class SourceParser(object):
self.param_groups[group].AddParameter(param)
state = None
return True
def IsNumber(self, numberString):
try:
float(numberString)
@@ -348,8 +348,8 @@ class SourceParser(object):
seenParamNames = []
#allowedUnits should match set defined in /Firmware/validation/module_schema.yaml
allowedUnits = set ([
'%', 'Hz', 'mAh',
'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m','rad s/m',
'%', 'Hz', '1/s', 'mAh',
'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m', 'rad s/m',
'bit/s', 'B/s',
'deg', 'deg*1e7', 'deg/s',
'celcius', 'gauss', 'gauss/s', 'gauss^2',
@@ -357,9 +357,9 @@ class SourceParser(object):
'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
'Ohm', 'V',
'us', 'ms', 's',
'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad',
'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad',
'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
'N/(m/s)', 'Nm/rad', 'Nm/(rad/s)', 'Nm', 'N',
'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD',''])
for group in self.GetParamGroups():
for param in group.GetParams():
@@ -380,7 +380,7 @@ class SourceParser(object):
min = param.GetFieldValue("min")
max = param.GetFieldValue("max")
units = param.GetFieldValue("unit")
if units not in allowedUnits:
if units not in allowedUnits:
sys.stderr.write("Invalid unit in {0}: {1}\n".format(name, units))
return False
#sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))