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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
2021-11-24 15:12:09 +01:00
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/ControlAllocation/ControlAllocation.hpp
+8 -4
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@@ -71,14 +71,16 @@
#include <matrix/matrix/math.hpp>
#include "ActuatorEffectiveness/ActuatorEffectiveness.hpp"
class ControlAllocation
{
public:
ControlAllocation();
virtual ~ControlAllocation() = default;
static constexpr uint8_t NUM_ACTUATORS = 16;
static constexpr uint8_t NUM_AXES = 6;
static constexpr uint8_t NUM_ACTUATORS = ActuatorEffectiveness::NUM_ACTUATORS;
static constexpr uint8_t NUM_AXES = ActuatorEffectiveness::NUM_AXES;
typedef matrix::Vector<float, NUM_ACTUATORS> ActuatorVector;
@@ -93,8 +95,6 @@ public:
/**
* Allocate control setpoint to actuators
*
* @param control_setpoint Desired control setpoint vector (input)
*/
virtual void allocate() = 0;
@@ -190,6 +190,8 @@ public:
*/
void clipActuatorSetpoint(matrix::Vector<float, NUM_ACTUATORS> &actuator) const;
void clipActuatorSetpoint() { clipActuatorSetpoint(_actuator_sp); }
/**
* Normalize the actuator setpoint between minimum and maximum values.
*
@@ -207,6 +209,8 @@ public:
int numConfiguredActuators() const { return _num_actuators; }
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