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Control Allocation: add option to disable yaw by differential thrust

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This replaces the propeller_torque_disabled flag to disable yaw by differential thrust
for tiltrotor and tailsitter VTOLs, as propeller_torque_disabled is not enough to set
effectiveness of an acutator in the yaw axis to 0 in case it's tilted.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-05-09 15:29:38 +02:00
parent 46179586fb
commit 866f9fa95b
5 changed files with 12 additions and 3 deletions
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2
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp
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@ -51,7 +51,7 @@ ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration
}
// MC motors
_mc_rotors.enablePropellerTorque(!_tilts.hasYawControl());
_mc_rotors.enableYawByDifferentialThrust(!_tilts.hasYawControl());
const bool rotors_added_successfully = _mc_rotors.addActuators(configuration);
// Tilts

5
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
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@ -213,6 +213,11 @@ ActuatorEffectivenessRotors::computeEffectivenessMatrix(const Geometry &geometry
effectiveness(j + 3, i + actuator_start_index) = thrust(j);
}
if (geometry.yaw_by_differential_thrust_disabled) {
// set yaw effectiveness to 0 if yaw is controlled by other means (e.g. tilts)
effectiveness(2, i + actuator_start_index) = 0.f;
}
if (geometry.three_dimensional_thrust_disabled) {
// Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in MC),
// pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they

3
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
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@ -74,6 +74,7 @@ public:
RotorGeometry rotors[NUM_ROTORS_MAX];
int num_rotors{0};
bool propeller_torque_disabled{false};
bool yaw_by_differential_thrust_disabled{false};
bool propeller_torque_disabled_non_upwards{false}; ///< keeps propeller torque enabled for upward facing motors
bool three_dimensional_thrust_disabled{false}; ///< for handling of tiltrotor VTOL, as they pass in 1D thrust and collective tilt
};
@ -119,6 +120,8 @@ public:
void enablePropellerTorque(bool enable) { _geometry.propeller_torque_disabled = !enable; }
void enableYawByDifferentialThrust(bool enable) { _geometry.yaw_by_differential_thrust_disabled = !enable; }
void enablePropellerTorqueNonUpwards(bool enable) { _geometry.propeller_torque_disabled_non_upwards = !enable; }
void enableThreeDimensionalThrust(bool enable) { _geometry.three_dimensional_thrust_disabled = !enable; }

3
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
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@ -56,7 +56,8 @@ ActuatorEffectivenessTailsitterVTOL::getEffectivenessMatrix(Configuration &confi
// MC motors
configuration.selected_matrix = 0;
_mc_rotors.enablePropellerTorque(_mc_rotors.geometry().num_rotors > 3); // enable MC yaw control if more than 3 rotors
// enable MC yaw control if more than 3 rotors
_mc_rotors.enableYawByDifferentialThrust(_mc_rotors.geometry().num_rotors > 3);
const bool mc_rotors_added_successfully = _mc_rotors.addActuators(configuration);
// Control Surfaces

2
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
View File

@ -60,7 +60,7 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config
// MC motors
configuration.selected_matrix = 0;
_mc_rotors.enablePropellerTorque(!_tilts.hasYawControl());
_mc_rotors.enableYawByDifferentialThrust(!_tilts.hasYawControl());
_mc_rotors.enableThreeDimensionalThrust(false);
// Update matrix with tilts in vertical position when update is triggered by a manual