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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/modules/angular_velocity_controller/vehicle_model_params.c
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/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_model_params.c
* Parameters for vehicle model.
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
/**
* Mass
*
* @unit kg
* @decimal 5
* @increment 0.00001
* @group Vehicle Model
*/
PARAM_DEFINE_FLOAT(VM_MASS, 1.f);
/**
* Inertia matrix, XX component
*
* @unit kg m^2
* @decimal 5
* @increment 0.00001
* @group Vehicle Model
*/
PARAM_DEFINE_FLOAT(VM_INERTIA_XX, 0.01f);
/**
* Inertia matrix, YY component
*
* @unit kg m^2
* @decimal 5
* @increment 0.00001
* @group Vehicle Model
*/
PARAM_DEFINE_FLOAT(VM_INERTIA_YY, 0.01f);
/**
* Inertia matrix, ZZ component
*
* @unit kg m^2
* @decimal 5
* @increment 0.00001
* @group Vehicle Model
*/
PARAM_DEFINE_FLOAT(VM_INERTIA_ZZ, 0.01f);
/**
* Inertia matrix, XY component
*
* @unit kg m^2
* @decimal 5
* @increment 0.00001
* @group Vehicle Model
*/
PARAM_DEFINE_FLOAT(VM_INERTIA_XY, 0.f);
/**
* Inertia matrix, XZ component
*
* @unit kg m^2
* @decimal 5
* @increment 0.00001
* @group Vehicle Model
*/
PARAM_DEFINE_FLOAT(VM_INERTIA_XZ, 0.f);
/**
* Inertia matrix, YZ component
*
* @unit kg m^2
* @decimal 5
* @increment 0.00001
* @group Vehicle Model
*/
PARAM_DEFINE_FLOAT(VM_INERTIA_YZ, 0.f);