control_allocator: add rover actuator effectiveness

This can be generalized later
2026-07-09 02:30:35 +08:00 · 2021-11-29 13:59:09 +01:00
parent ed3a115c8f
commit 4d2a403afa
8 changed files with 234 additions and 0 deletions
@@ -18,6 +18,8 @@ parameters:
                0: Multirotor
                1: Standard VTOL (WIP)
                2: Tiltrotor VTOL (WIP)
+                3: Rover (Ackermann)
+                4: Rover (Differential)
            default: 0

        CA_METHOD:
@@ -470,5 +472,25 @@ mixer:
                          - name: 'CA_SV_TL${i}_CT'
                            label: 'Use for Control'

+            3: # Rover (Ackermann)
+                actuators:
+                  - actuator_type: 'motor'
+                    instances:
+                      - name: 'Throttle'
+                        position: [ -1., 0, 0 ]
+                  - actuator_type: 'servo'
+                    instances:
+                      - name: 'Steering'
+                        position: [ 1., 0, 0 ]
+
+            4: # Rover (Differential)
+                actuators:
+                  - actuator_type: 'motor'
+                    instances:
+                      - name: 'Left Motor'
+                        position: [ 0, -1., 0 ]
+                      - name: 'Right Motor'
+                        position: [ 0, 1., 0 ]
+