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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
@@ -0,0 +1,46 @@
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############################################################################
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#
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# Copyright (c) 2019 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
|
||||
# are met:
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||||
#
|
||||
# 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.
|
||||
#
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||||
# 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
|
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# 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
|
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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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px4_add_library(ControlAllocation
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ControlAllocation.cpp
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ControlAllocation.hpp
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ControlAllocationPseudoInverse.cpp
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ControlAllocationPseudoInverse.hpp
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ControlAllocationSequentialDesaturation.cpp
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ControlAllocationSequentialDesaturation.hpp
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)
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target_compile_options(ControlAllocation PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
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target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(ControlAllocation PRIVATE mathlib)
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px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation)
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@@ -0,0 +1,164 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 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
|
||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
||||
* 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
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* 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
|
||||
* 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 ControlAllocation.cpp
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*
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* Interface for Control Allocation Algorithms
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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#include "ControlAllocation.hpp"
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const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
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ControlAllocation::getActuatorSetpoint() const
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{
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return _actuator_sp;
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}
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void
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ControlAllocation::setControlSetpoint(const matrix::Vector<float, ControlAllocation::NUM_AXES> &control)
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{
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_control_sp = control;
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}
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const matrix::Vector<float, ControlAllocation::NUM_AXES> &
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ControlAllocation::getControlSetpoint() const
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{
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return _control_sp;
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}
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const matrix::Vector<float, ControlAllocation::NUM_AXES> &
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ControlAllocation::getAllocatedControl() const
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{
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return _control_allocated;
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}
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void
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ControlAllocation::setEffectivenessMatrix(
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const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
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const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator_trim)
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{
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_effectiveness = effectiveness;
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_actuator_trim = clipActuatorSetpoint(actuator_trim);
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_control_trim = _effectiveness * _actuator_trim;
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}
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const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &
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ControlAllocation::getEffectivenessMatrix() const
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{
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return _effectiveness;
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}
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void
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ControlAllocation::setActuatorMin(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
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&actuator_min)
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{
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_actuator_min = actuator_min;
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}
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const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
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ControlAllocation::getActuatorMin() const
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{
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return _actuator_min;
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}
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void
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ControlAllocation::setActuatorMax(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
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&actuator_max)
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{
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_actuator_max = actuator_max;
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}
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const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
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ControlAllocation::getActuatorMax() const
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{
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return _actuator_max;
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}
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void
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ControlAllocation::setActuatorSetpoint(
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const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator_sp)
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{
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// Set actuator setpoint
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_actuator_sp = actuator_sp;
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// Clip
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_actuator_sp = clipActuatorSetpoint(_actuator_sp);
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// Compute achieved control
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_control_allocated = _effectiveness * _actuator_sp;
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}
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matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
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ControlAllocation::clipActuatorSetpoint(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator) const
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{
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matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> actuator_clipped;
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for (size_t i = 0; i < ControlAllocation::NUM_ACTUATORS; i++) {
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if (_actuator_max(i) < _actuator_min(i)) {
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actuator_clipped(i) = _actuator_trim(i);
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} else if (actuator_clipped(i) < _actuator_min(i)) {
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actuator_clipped(i) = _actuator_min(i);
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} else if (actuator_clipped(i) > _actuator_max(i)) {
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actuator_clipped(i) = _actuator_max(i);
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} else {
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actuator_clipped(i) = actuator(i);
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}
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}
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return actuator_clipped;
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}
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matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
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ControlAllocation::normalizeActuatorSetpoint(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator)
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const
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{
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matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> actuator_normalized;
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for (size_t i = 0; i < ControlAllocation::NUM_ACTUATORS; i++) {
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if (_actuator_min(i) < _actuator_max(i)) {
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actuator_normalized(i) = -1.0f + 2.0f * (actuator(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
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} else {
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actuator_normalized(i) = -1.0f + 2.0f * (_actuator_trim(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
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}
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}
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return actuator_normalized;
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}
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@@ -0,0 +1,216 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 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
|
||||
* 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
|
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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 ControlAllocation.hpp
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*
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* Interface for Control Allocation Algorithms
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*
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* Implementers of this interface are expected to update the members
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* of this base class in the `allocate` method.
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*
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* Example usage:
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* ```
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* [...]
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* // Initialization
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* ControlAllocationMethodImpl alloc();
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* alloc.setEffectivenessMatrix(effectiveness, actuator_trim);
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* alloc.setActuatorMin(actuator_min);
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* alloc.setActuatorMin(actuator_max);
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*
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* while (1) {
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* [...]
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*
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* // Set control setpoint, allocate actuator setpoint, retrieve actuator setpoint
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* alloc.setControlSetpoint(control_sp);
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* alloc.allocate();
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* actuator_sp = alloc.getActuatorSetpoint();
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*
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* // Check if the control setpoint was fully allocated
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* unallocated_control = control_sp - alloc.getAllocatedControl()
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*
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* [...]
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* }
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* ```
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*
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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#pragma once
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#include <matrix/matrix/math.hpp>
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#include <uORB/topics/vehicle_actuator_setpoint.h>
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class ControlAllocation
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{
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public:
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ControlAllocation() = default;
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virtual ~ControlAllocation() = default;
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static constexpr uint8_t NUM_ACTUATORS = 16;
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static constexpr uint8_t NUM_AXES = 6;
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typedef matrix::Vector<float, NUM_ACTUATORS> ActuatorVector;
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enum ControlAxis {
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ROLL = 0,
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PITCH,
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YAW,
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THRUST_X,
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THRUST_Y,
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THRUST_Z
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};
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/**
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* Allocate control setpoint to actuators
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*
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* @param control_setpoint Desired control setpoint vector (input)
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*/
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virtual void allocate() = 0;
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/**
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* Set the control effectiveness matrix
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*
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* @param B Effectiveness matrix
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*/
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virtual void setEffectivenessMatrix(const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_trim);
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/**
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* Get the allocated actuator vector
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*
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* @return Actuator vector
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*/
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const matrix::Vector<float, NUM_ACTUATORS> &getActuatorSetpoint() const;
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/**
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* Set the desired control vector
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*
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* @param Control vector
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*/
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void setControlSetpoint(const matrix::Vector<float, NUM_AXES> &control);
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/**
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* Set the desired control vector
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*
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* @param Control vector
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*/
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const matrix::Vector<float, NUM_AXES> &getControlSetpoint() const;
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/**
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* Get the allocated control vector
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*
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* @return Control vector
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*/
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const matrix::Vector<float, NUM_AXES> &getAllocatedControl() const;
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/**
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* Get the control effectiveness matrix
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*
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* @return Effectiveness matrix
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*/
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const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &getEffectivenessMatrix() const;
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/**
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* Set the minimum actuator values
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*
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* @param actuator_min Minimum actuator values
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*/
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void setActuatorMin(const matrix::Vector<float, NUM_ACTUATORS> &actuator_min);
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/**
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* Get the minimum actuator values
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*
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* @return Minimum actuator values
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*/
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const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMin() const;
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/**
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* Set the maximum actuator values
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*
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* @param actuator_max Maximum actuator values
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*/
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void setActuatorMax(const matrix::Vector<float, NUM_ACTUATORS> &actuator_max);
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/**
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* Get the maximum actuator values
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*
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* @return Maximum actuator values
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*/
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const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMax() const;
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/**
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* Set the current actuator setpoint.
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*
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* Use this when a new allocation method is started to initialize it properly.
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* In most cases, it is not needed to call this method before `allocate()`.
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* Indeed the previous actuator setpoint is expected to be stored during calls to `allocate()`.
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*
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* @param actuator_sp Actuator setpoint
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*/
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void setActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator_sp);
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/**
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* Clip the actuator setpoint between minimum and maximum values.
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*
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* The output is in the range [min; max]
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*
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* @param actuator Actuator vector to clip
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*
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* @return Clipped actuator setpoint
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*/
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matrix::Vector<float, NUM_ACTUATORS> clipActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator) const;
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/**
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* Normalize the actuator setpoint between minimum and maximum values.
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*
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* The output is in the range [-1; +1]
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*
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* @param actuator Actuator vector to normalize
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*
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* @return Clipped actuator setpoint
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*/
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matrix::Vector<float, NUM_ACTUATORS> normalizeActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator)
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const;
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protected:
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matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> _effectiveness; //< Effectiveness matrix
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matrix::Vector<float, NUM_ACTUATORS> _actuator_trim; //< Neutral actuator values
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matrix::Vector<float, NUM_ACTUATORS> _actuator_min; //< Minimum actuator values
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matrix::Vector<float, NUM_ACTUATORS> _actuator_max; //< Maximum actuator values
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matrix::Vector<float, NUM_ACTUATORS> _actuator_sp; //< Actuator setpoint
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matrix::Vector<float, NUM_AXES> _control_sp; //< Control setpoint
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matrix::Vector<float, NUM_AXES> _control_allocated; //< Allocated control
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matrix::Vector<float, NUM_AXES> _control_trim; //< Control at trim actuator values
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};
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@@ -0,0 +1,76 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 ControlAllocationPseudoInverse.hpp
|
||||
*
|
||||
* Simple Control Allocation Algorithm
|
||||
*
|
||||
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
|
||||
*/
|
||||
|
||||
#include "ControlAllocationPseudoInverse.hpp"
|
||||
|
||||
void
|
||||
ControlAllocationPseudoInverse::setEffectivenessMatrix(
|
||||
const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
|
||||
const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator_trim)
|
||||
{
|
||||
ControlAllocation::setEffectivenessMatrix(effectiveness, actuator_trim);
|
||||
_mix_update_needed = true;
|
||||
}
|
||||
|
||||
void
|
||||
ControlAllocationPseudoInverse::updatePseudoInverse()
|
||||
{
|
||||
if (_mix_update_needed) {
|
||||
_mix = matrix::geninv(_effectiveness);
|
||||
_mix_update_needed = false;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ControlAllocationPseudoInverse::allocate()
|
||||
{
|
||||
//Compute new gains if needed
|
||||
updatePseudoInverse();
|
||||
|
||||
// Allocate
|
||||
_actuator_sp = _actuator_trim + _mix * (_control_sp - _control_trim);
|
||||
|
||||
// Clip
|
||||
_actuator_sp = clipActuatorSetpoint(_actuator_sp);
|
||||
|
||||
// Compute achieved control
|
||||
_control_allocated = _effectiveness * _actuator_sp;
|
||||
}
|
||||
@@ -0,0 +1,70 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 ControlAllocationPseudoInverse.hpp
|
||||
*
|
||||
* Simple Control Allocation Algorithm
|
||||
*
|
||||
* It computes the pseudo-inverse of the effectiveness matrix
|
||||
* Actuator saturation is handled by simple clipping, do not
|
||||
* expect good performance in case of actuator saturation.
|
||||
*
|
||||
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "ControlAllocation.hpp"
|
||||
|
||||
class ControlAllocationPseudoInverse: public ControlAllocation
|
||||
{
|
||||
public:
|
||||
ControlAllocationPseudoInverse() = default;
|
||||
virtual ~ControlAllocationPseudoInverse() = default;
|
||||
|
||||
virtual void allocate() override;
|
||||
virtual void setEffectivenessMatrix(const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness,
|
||||
const matrix::Vector<float, NUM_ACTUATORS> &actuator_trim) override;
|
||||
|
||||
protected:
|
||||
matrix::Matrix<float, NUM_ACTUATORS, NUM_AXES> _mix;
|
||||
|
||||
bool _mix_update_needed{false};
|
||||
|
||||
/**
|
||||
* Recalculate pseudo inverse if required.
|
||||
*
|
||||
*/
|
||||
void updatePseudoInverse();
|
||||
};
|
||||
+67
@@ -0,0 +1,67 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 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 ControlAllocationTest.cpp
|
||||
*
|
||||
* Tests for Control Allocation Algorithms
|
||||
*
|
||||
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
|
||||
*/
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
#include <ControlAllocationPseudoInverse.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
TEST(ControlAllocationTest, AllZeroCase)
|
||||
{
|
||||
ControlAllocationPseudoInverse method;
|
||||
|
||||
matrix::Vector<float, 6> control_sp;
|
||||
matrix::Vector<float, 6> control_allocated;
|
||||
matrix::Vector<float, 6> control_allocated_expected;
|
||||
matrix::Matrix<float, 6, 16> effectiveness;
|
||||
matrix::Vector<float, 16> actuator_sp;
|
||||
matrix::Vector<float, 16> actuator_trim;
|
||||
matrix::Vector<float, 16> actuator_sp_expected;
|
||||
|
||||
method.setEffectivenessMatrix(effectiveness, actuator_trim, 16);
|
||||
method.setControlSetpoint(control_sp);
|
||||
method.allocate();
|
||||
actuator_sp = method.getActuatorSetpoint();
|
||||
control_allocated_expected = method.getAllocatedControl();
|
||||
|
||||
EXPECT_EQ(actuator_sp, actuator_sp_expected);
|
||||
EXPECT_EQ(control_allocated, control_allocated_expected);
|
||||
}
|
||||
+124
@@ -0,0 +1,124 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 ControlAllocationSequentialDesaturation.cpp
|
||||
*
|
||||
* @author Roman Bapst <bapstroman@gmail.com>
|
||||
*/
|
||||
|
||||
#include "ControlAllocationSequentialDesaturation.hpp"
|
||||
|
||||
|
||||
|
||||
void
|
||||
ControlAllocationSequentialDesaturation::allocate()
|
||||
{
|
||||
//Compute new gains if needed
|
||||
updatePseudoInverse();
|
||||
|
||||
// Allocate
|
||||
_actuator_sp = _actuator_trim + _mix * (_control_sp - _control_trim);
|
||||
|
||||
// go through control axes from lowest to highest priority and unsaturate the actuators
|
||||
for (unsigned i = 0; i < NUM_AXES; i++) {
|
||||
desaturateActuators(_actuator_sp, _axis_prio_increasing[i]);
|
||||
}
|
||||
|
||||
// Clip
|
||||
_actuator_sp = clipActuatorSetpoint(_actuator_sp);
|
||||
|
||||
// Compute achieved control
|
||||
_control_allocated = _effectiveness * _actuator_sp;
|
||||
}
|
||||
|
||||
void ControlAllocationSequentialDesaturation::desaturateActuators(
|
||||
ActuatorVector &actuator_sp,
|
||||
const ControlAxis &axis)
|
||||
{
|
||||
ActuatorVector desaturation_vector = getDesaturationVector(axis);
|
||||
|
||||
float gain = computeDesaturationGain(desaturation_vector, actuator_sp);
|
||||
|
||||
actuator_sp = actuator_sp + gain * desaturation_vector;
|
||||
|
||||
gain = computeDesaturationGain(desaturation_vector, actuator_sp);
|
||||
|
||||
actuator_sp = actuator_sp + 0.5f * gain * desaturation_vector;
|
||||
}
|
||||
|
||||
ControlAllocation::ActuatorVector ControlAllocationSequentialDesaturation::getDesaturationVector(
|
||||
const ControlAxis &axis)
|
||||
{
|
||||
ActuatorVector ret;
|
||||
|
||||
for (unsigned i = 0; i < NUM_ACTUATORS; i++) {
|
||||
ret(i) = _mix(i, axis);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
float ControlAllocationSequentialDesaturation::computeDesaturationGain(const ActuatorVector &desaturation_vector,
|
||||
const ActuatorVector &actuator_sp)
|
||||
{
|
||||
float k_min = 0.f;
|
||||
float k_max = 0.f;
|
||||
|
||||
for (unsigned i = 0; i < NUM_ACTUATORS; i++) {
|
||||
// Avoid division by zero. If desaturation_vector(i) is zero, there's nothing we can do to unsaturate anyway
|
||||
if (fabsf(desaturation_vector(i)) < FLT_EPSILON) {
|
||||
continue;
|
||||
}
|
||||
|
||||
if (actuator_sp(i) < _actuator_min(i)) {
|
||||
float k = (_actuator_min(i) - actuator_sp(i)) / desaturation_vector(i);
|
||||
|
||||
if (k < k_min) { k_min = k; }
|
||||
|
||||
if (k > k_max) { k_max = k; }
|
||||
}
|
||||
|
||||
if (actuator_sp(i) > _actuator_max(i)) {
|
||||
float k = (_actuator_max(i) - actuator_sp(i)) / desaturation_vector(i);
|
||||
|
||||
if (k < k_min) { k_min = k; }
|
||||
|
||||
if (k > k_max) { k_max = k; }
|
||||
}
|
||||
}
|
||||
|
||||
// Reduce the saturation as much as possible
|
||||
return k_min + k_max;
|
||||
}
|
||||
+89
@@ -0,0 +1,89 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 ControlAllocationSequentialDesaturation.hpp
|
||||
*
|
||||
* Control Allocation Algorithm which sequentially modifies control demands in order to
|
||||
* eliminate the saturation of the actuator setpoint vector.
|
||||
*
|
||||
*
|
||||
* @author Roman Bapst <bapstroman@gmail.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "ControlAllocationPseudoInverse.hpp"
|
||||
|
||||
class ControlAllocationSequentialDesaturation: public ControlAllocationPseudoInverse
|
||||
{
|
||||
public:
|
||||
|
||||
ControlAllocationSequentialDesaturation() = default;
|
||||
virtual ~ControlAllocationSequentialDesaturation() = default;
|
||||
|
||||
void allocate() override;
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* List of control axis used for desaturating the actuator vector. The desaturation logic will sequentially
|
||||
* go through this list and if needed apply corrections to the demand of the corresponding axis in order to desaturate
|
||||
* the actuator vector.
|
||||
*/
|
||||
ControlAxis _axis_prio_increasing [NUM_AXES] = {ControlAxis::YAW, ControlAxis::THRUST_Y, ControlAxis::THRUST_X, ControlAxis::THRUST_Z, ControlAxis::PITCH, ControlAxis::ROLL};
|
||||
|
||||
/**
|
||||
* Desaturate actuator setpoint vector.
|
||||
*
|
||||
* @return Desaturated actuator setpoint vector.
|
||||
*/
|
||||
void desaturateActuators(ActuatorVector &actuator_sp, const ControlAxis &axis);
|
||||
|
||||
/**
|
||||
* Get desaturation vector.
|
||||
*
|
||||
* @param axis Control axis
|
||||
* @return ActuatorVector Column of the pseudo-inverse matrix corresponding to the given control axis.
|
||||
*/
|
||||
ActuatorVector getDesaturationVector(const ControlAxis &axis);
|
||||
|
||||
/**
|
||||
* Compute desaturation gain.
|
||||
*
|
||||
* @param desaturation_vector Column of the pseudo-inverse matrix corresponding to a given control axis.
|
||||
* @param Actuator setpoint vector.
|
||||
* @return Gain which eliminates the saturation of the highest saturated actuator.
|
||||
*/
|
||||
float computeDesaturationGain(const ActuatorVector &desaturation_vector, const ActuatorVector &actuator_sp);
|
||||
};
|
||||
Reference in New Issue
Block a user