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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/control_allocator/control_allocator_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 control_allocator_params.c
*
* Parameters for the control allocator.
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
/**
* Airframe ID
*
* This is used to retrieve pre-computed control effectiveness matrix
*
* @min 0
* @max 2
* @value 0 Multirotor
* @value 1 Standard VTOL (WIP)
* @value 2 Tiltrotor VTOL (WIP)
* @group Control Allocation
*/
PARAM_DEFINE_INT32(CA_AIRFRAME, 0);
/**
* Control allocation method
*
* @value 0 Pseudo-inverse with output clipping (default)
* @value 1 Pseudo-inverse with sequential desaturation technique
* @min 0
* @max 1
* @group Control Allocation
*/
PARAM_DEFINE_INT32(CA_METHOD, 0);
/**
* Battery power level scaler
*
* This compensates for voltage drop of the battery over time by attempting to
* normalize performance across the operating range of the battery. The copter
* should constantly behave as if it was fully charged with reduced max acceleration
* at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,
* it will still be 0.5 at 60% battery.
*
* @boolean
* @group Control Allocation
*/
PARAM_DEFINE_INT32(CA_BAT_SCALE_EN, 0);
/**
* Airspeed scaler
*
* This compensates for the variation of flap effectiveness with airspeed.
*
* @boolean
* @group Control Allocation
*/
PARAM_DEFINE_INT32(CA_AIR_SCALE_EN, 0);
/**
* Minimum value for actuator 0
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT0_MIN, 0.0);
/**
* Minimum value for actuator 1
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT1_MIN, 0.0);
/**
* Minimum value for actuator 2
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT2_MIN, 0.0);
/**
* Minimum value for actuator 3
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT3_MIN, 0.0);
/**
* Minimum value for actuator 4
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT4_MIN, 0.0);
/**
* Minimum value for actuator 5
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT5_MIN, 0.0);
/**
* Minimum value for actuator 6
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT6_MIN, 0.0);
/**
* Minimum value for actuator 7
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT7_MIN, 0.0);
/**
* Minimum value for actuator 8
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT8_MIN, 0.0);
/**
* Minimum value for actuator 9
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT9_MIN, 0.0);
/**
* Minimum value for actuator 10
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT10_MIN, 0.0);
/**
* Minimum value for actuator 11
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT11_MIN, 0.0);
/**
* Minimum value for actuator 12
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT12_MIN, 0.0);
/**
* Minimum value for actuator 13
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT13_MIN, 0.0);
/**
* Minimum value for actuator 14
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT14_MIN, 0.0);
/**
* Minimum value for actuator 15
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT15_MIN, 0.0);
/**
* Maximum value for actuator 0
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT0_MAX, 0.0);
/**
* Maximum value for actuator 1
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT1_MAX, 0.0);
/**
* Maximum value for actuator 2
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT2_MAX, 0.0);
/**
* Maximum value for actuator 3
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT3_MAX, 0.0);
/**
* Maximum value for actuator 4
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT4_MAX, 0.0);
/**
* Maximum value for actuator 5
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT5_MAX, 0.0);
/**
* Maximum value for actuator 6
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT6_MAX, 0.0);
/**
* Maximum value for actuator 7
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT7_MAX, 0.0);
/**
* Maximum value for actuator 8
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT8_MAX, 0.0);
/**
* Maximum value for actuator 9
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT9_MAX, 0.0);
/**
* Maximum value for actuator 10
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT10_MAX, 0.0);
/**
* Maximum value for actuator 11
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT11_MAX, 0.0);
/**
* Maximum value for actuator 12
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT12_MAX, 0.0);
/**
* Maximum value for actuator 13
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT13_MAX, 0.0);
/**
* Maximum value for actuator 14
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT14_MAX, 0.0);
/**
* Maximum value for actuator 15
*
* @group Control Allocation
*/
PARAM_DEFINE_FLOAT(CA_ACT15_MAX, 0.0);