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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>
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Julien Lecoeur
committed by
Daniel Agar
Daniel Agar
parent
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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
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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 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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