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initial control allocation support
- 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
committed by
Daniel Agar
Daniel Agar
parent
fc6b61dad1
commit
343cf5603e
+108
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ActuatorEffectivenessStandardVTOL.hpp
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*
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* Actuator effectiveness for standard VTOL
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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#include "ActuatorEffectivenessStandardVTOL.hpp"
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ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL()
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{
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setFlightPhase(FlightPhase::HOVER_FLIGHT);
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}
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bool
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ActuatorEffectivenessStandardVTOL::update()
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{
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if (_updated) {
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_updated = false;
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return true;
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}
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return false;
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}
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void
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ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
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{
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ActuatorEffectiveness::setFlightPhase(flight_phase);
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_updated = true;
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switch (_flight_phase) {
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case FlightPhase::HOVER_FLIGHT: {
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const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
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{-0.5f, 0.5f, 0.5f, -0.5f, 0.f, 0.0f, 0.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.5f, -0.5f, 0.5f, -0.5f, 0.f, 0.f, 0.f, 0.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.25f, 0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
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};
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_effectiveness = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
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break;
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}
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case FlightPhase::FORWARD_FLIGHT: {
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const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
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{ 0.f, 0.f, 0.f, 0.f, 0.f, -0.5f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
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};
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_effectiveness = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
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break;
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}
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case FlightPhase::TRANSITION_HF_TO_FF:
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case FlightPhase::TRANSITION_FF_TO_HF: {
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const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
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{ -0.5f, 0.5f, 0.5f, -0.5f, 0.f, -0.5f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.5f, -0.5f, 0.5f, -0.5f, 0.f, 0.f, 0.f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.25f, 0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
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{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
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};
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_effectiveness = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
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break;
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}
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}
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}
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