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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/logger/logged_topics.cpp
+14
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@@ -48,6 +48,10 @@ void LoggedTopics::add_default_topics()
add_topic("actuator_armed");
add_topic("actuator_controls_0", 50);
add_topic("actuator_controls_1", 100);
add_topic("actuator_controls_2", 100);
add_topic("actuator_controls_3", 100);
add_topic("actuator_controls_4", 100);
add_topic("actuator_controls_5", 100);
add_topic("airspeed", 1000);
add_topic("airspeed_validated", 200);
add_topic("camera_capture");
@@ -106,6 +110,13 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_status_flags");
add_topic("vtol_vehicle_status", 200);
// Control allocaton topics
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_thrust_setpoint", 20);
add_topic("vehicle_torque_setpoint", 20);
add_topic("vehicle_actuator_setpoint", 20);
// multi topics
add_topic_multi("actuator_outputs", 100, 2);
add_topic_multi("logger_status", 0, 2);
@@ -251,6 +262,9 @@ void LoggedTopics::add_system_identification_topics()
add_topic("actuator_controls_0");
add_topic("actuator_controls_1");
add_topic("sensor_combined");
add_topic("vehicle_angular_acceleration");
add_topic("vehicle_angular_acceleration_setpoint");
add_topic("vehicle_torque_setpoint");
}
int LoggedTopics::add_topics_from_file(const char *fname)