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control_allocator: major refactoring & additions

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- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
This commit is contained in:
Beat Küng
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent a81f11acdd
commit 70e46a194f
28 changed files with 1936 additions and 775 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+53 -56
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@@ -31,79 +31,76 @@
*
****************************************************************************/
/**
* @file ActuatorEffectivenessStandardVTOL.hpp
*
* Actuator effectiveness for standard VTOL
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#include "ActuatorEffectivenessStandardVTOL.hpp"
#include <ControlAllocation/ControlAllocation.hpp>
ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL()
using namespace matrix;
ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL(ModuleParams *parent)
: ModuleParams(parent), _mc_rotors(this), _control_surfaces(this)
{
setFlightPhase(FlightPhase::HOVER_FLIGHT);
}
bool
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
bool force)
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configuration, bool force)
{
if (!(_updated || force)) {
if (!force) {
return false;
}
switch (_flight_phase) {
case FlightPhase::HOVER_FLIGHT: {
const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
{-0.5f, 0.5f, 0.5f, -0.5f, 0.f, 0.0f, 0.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.5f, -0.5f, 0.5f, -0.5f, 0.f, 0.f, 0.f, 0.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.25f, 0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
};
matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
break;
}
// MC motors
configuration.selected_matrix = 0;
_mc_rotors.getEffectivenessMatrix(configuration, true);
_mc_motors_mask = (1u << _mc_rotors.geometry().num_rotors) - 1;
case FlightPhase::FORWARD_FLIGHT: {
const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
{ 0.f, 0.f, 0.f, 0.f, 0.f, -0.5f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
};
matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
break;
}
// Pusher/Puller
configuration.selected_matrix = 1;
case FlightPhase::TRANSITION_HF_TO_FF:
case FlightPhase::TRANSITION_FF_TO_HF: {
const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
{ -0.5f, 0.5f, 0.5f, -0.5f, 0.f, -0.5f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.5f, -0.5f, 0.5f, -0.5f, 0.f, 0.f, 0.f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.25f, 0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
};
matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
break;
}
for (int i = 0; i < _param_ca_stdvtol_n_p.get(); ++i) {
configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{1.f, 0.f, 0.f});
}
_updated = false;
// Control Surfaces
configuration.selected_matrix = 1;
_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
_control_surfaces.getEffectivenessMatrix(configuration, true);
return true;
}
void
ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp)
{
ActuatorEffectiveness::setFlightPhase(flight_phase);
_updated = true;
// apply flaps
if (matrix_index == 1) {
actuator_controls_s actuator_controls_1;
if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
float control_flaps = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
}
}
}
void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
if (_flight_phase == flight_phase) {
return;
}
ActuatorEffectiveness::setFlightPhase(flight_phase);
// update stopped motors
switch (flight_phase) {
case FlightPhase::FORWARD_FLIGHT:
_stopped_motors = _mc_motors_mask;
break;
case FlightPhase::HOVER_FLIGHT:
case FlightPhase::TRANSITION_FF_TO_HF:
case FlightPhase::TRANSITION_HF_TO_FF:
_stopped_motors = 0;
break;
}
}