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control_allocator: implement trim + slew rate limits configuration

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This commit is contained in:
Beat Küng
2021-12-03 11:52:01 +01:00
committed by Daniel Agar
parent 301100ce0e
commit 4c80adfaf1
17 changed files with 224 additions and 24 deletions
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src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+19 -9
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@@ -104,7 +104,7 @@ public:
* @param B Effectiveness matrix
*/
virtual void setEffectivenessMatrix(const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_trim, int num_actuators);
const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators);
/**
* Get the allocated actuator vector
@@ -181,6 +181,14 @@ public:
*/
void setActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator_sp);
void setSlewRateLimit(const matrix::Vector<float, NUM_ACTUATORS> &slew_rate_limit)
{ _actuator_slew_rate_limit = slew_rate_limit; }
/**
* Apply slew rate to current actuator setpoint
*/
void applySlewRateLimit(float dt);
/**
* Clip the actuator setpoint between minimum and maximum values.
*
@@ -211,13 +219,15 @@ public:
protected:
friend class ControlAllocator; // for _actuator_sp
matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> _effectiveness; //< Effectiveness matrix
matrix::Vector<float, NUM_AXES> _control_allocation_scale; //< Scaling applied during allocation
matrix::Vector<float, NUM_ACTUATORS> _actuator_trim; //< Neutral actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_min; //< Minimum actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_max; //< Maximum actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_sp; //< Actuator setpoint
matrix::Vector<float, NUM_AXES> _control_sp; //< Control setpoint
matrix::Vector<float, NUM_AXES> _control_trim; //< Control at trim actuator values
matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> _effectiveness; ///< Effectiveness matrix
matrix::Vector<float, NUM_AXES> _control_allocation_scale; ///< Scaling applied during allocation
matrix::Vector<float, NUM_ACTUATORS> _actuator_trim; ///< Neutral actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_min; ///< Minimum actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_max; ///< Maximum actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_slew_rate_limit; ///< Slew rate limit
matrix::Vector<float, NUM_ACTUATORS> _prev_actuator_sp; ///< Previous actuator setpoint
matrix::Vector<float, NUM_ACTUATORS> _actuator_sp; ///< Actuator setpoint
matrix::Vector<float, NUM_AXES> _control_sp; ///< Control setpoint
matrix::Vector<float, NUM_AXES> _control_trim; ///< Control at trim actuator values
int _num_actuators{0};
};