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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
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Ted
2025-02-20 14:47:18 +01:00
committed by Matthias Grob
co-authored by Mathieu Bresciani
parent f13718d482
commit 49fbcb2153
3 changed files with 13 additions and 14 deletions
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src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+6 -7
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@@ -106,11 +106,11 @@ void ActuatorEffectivenessHelicopter::updateParams()
int32_t linearize_servos = 0; int32_t linearize_servos = 0;
param_get(_param_handles.linearize_servos, &linearize_servos); param_get(_param_handles.linearize_servos, &linearize_servos);
_geometry.linearize_servos = (linearize_servos != 0); _geometry.linearize_servos = (linearize_servos != 0);
float max_sevo_throw = 0.f; float max_servo_throw_deg = 0.f;
param_get(_param_handles.max_sevo_throw, &max_sevo_throw); param_get(_param_handles.max_servo_throw, &max_servo_throw_deg);
max_sevo_throw *= M_PI_F / 180.0f; //converting deg to rad const float max_servo_throw = math::radians(max_servo_throw)
_geometry.max_sevo_height = sinf(max_sevo_throw); _geometry.max_servo_height = sinf(max_servo_throw);
_geometry.inverse_max_servo_throw = 1/max_sevo_throw; _geometry.inverse_max_servo_throw = 1.f / max_servo_throw;
} }
bool ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configuration, bool ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configuration,
@@ -197,13 +197,12 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
float ActuatorEffectivenessHelicopter::getLinearServoOutput(float input) const float ActuatorEffectivenessHelicopter::getLinearServoOutput(float input) const
{ {
input = math::constrain(input, -1.0f, 1.0f); input = math::constrain(input, -1.0f, 1.0f);
//servo output is calculated by normalizing input to arm rotation of CA_MAX_SVO_THROW degrees as full input for a linear throw //servo output is calculated by normalizing input to arm rotation of CA_MAX_SVO_THROW degrees as full input for a linear throw
float svo_height = _geometry.max_sevo_height * input; float svo_height = _geometry.max_sevo_height * input;
if (std::isnan(svo_height)) { if (!PX4_ISFINITE(svo_height)) {
svo_height = 0.0f; svo_height = 0.0f;
} }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
+2 -2
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@@ -67,7 +67,7 @@ public:
float yaw_sign; float yaw_sign;
float spoolup_time; float spoolup_time;
int linearize_servos; int linearize_servos;
float max_sevo_height; float max_servo_height;
float inverse_max_servo_throw; float inverse_max_servo_throw;
}; };
@@ -121,7 +121,7 @@ private:
param_t yaw_ccw; param_t yaw_ccw;
param_t spoolup_time; param_t spoolup_time;
param_t linearize_servos; param_t linearize_servos;
param_t max_sevo_throw; param_t max_servo_throw;
param_t inverse_max_servo_throw; param_t inverse_max_servo_throw;
}; };
ParamHandles _param_handles{}; ParamHandles _param_handles{};
src/modules/control_allocator/module.yaml
+5 -5
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@@ -575,7 +575,7 @@ parameters:
description: description:
short: Defines max/min throw of servo. short: Defines max/min throw of servo.
long: | long: |
Defines max/min throw of servo when linearizing servo output. Only used when CA_LIN_SERVO is enabled. Defines min/max throw of servo when linearizing servo output. Only used when CA_LIN_SERVO is enabled.
type: float type: float
decimal: 3 decimal: 3
unit: deg unit: deg
@@ -1147,9 +1147,9 @@ mixer:
name: CA_HELI_YAW_CCW name: CA_HELI_YAW_CCW
- label: 'Throttle spoolup time' - label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME name: COM_SPOOLUP_TIME
- label: 'linearize servos' - label: 'Linearize servos'
name: CA_LIN_SERVO name: CA_LIN_SERVO
- label: 'max/min throw of servo in degrees' - label: 'Min/max servo throw in degrees'
name: CA_MAX_SVO_THROW name: CA_MAX_SVO_THROW
11: # Helicopter (tail Servo) 11: # Helicopter (tail Servo)
@@ -1180,9 +1180,9 @@ mixer:
name: CA_HELI_YAW_CCW name: CA_HELI_YAW_CCW
- label: 'Throttle spoolup time' - label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME name: COM_SPOOLUP_TIME
- label: 'linearize servos' - label: 'Linearize servos'
name: CA_LIN_SERVO name: CA_LIN_SERVO
- label: 'max/min throw of servo in degrees' - label: 'Min/max servo throw in degrees'
name: CA_MAX_SVO_THROW name: CA_MAX_SVO_THROW