WIP: VTOL standard unfied control effectiveness

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOLUnified.cpp

@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ActuatorEffectivenessStandardVTOLUnified.hpp"
+#include <ControlAllocation/ControlAllocation.hpp>
+
+using namespace matrix;
+
+ActuatorEffectivenessStandardVTOLUnified::ActuatorEffectivenessStandardVTOLUnified(ModuleParams *parent) :
+	ModuleParams(parent),
+	_rotors(this),
+	_control_surfaces(this)
+{
+}
+
+bool ActuatorEffectivenessStandardVTOLUnified::getEffectivenessMatrix(Configuration &configuration,
+		EffectivenessUpdateReason external_update)
+{
+	if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
+		return false;
+	}
+
+	// TODO: combine _rotors and _control_surfaces into one matrix
+
+	// TODO: airspeed
+
+
+
+
+	//  _rotors.addActuators(configuration);
+	//
+	// int num_actuators = _rotors.computeEffectivenessMatrix(_rotors.geometry(), configuration.effectiveness_matrices[0],
+	// 		    configuration.num_actuators_matrix[0]);
+	// configuration.actuatorsAdded(ActuatorType::MOTORS, num_actuators);
+
+
+
+	// Motors
+	configuration.selected_matrix = 0;
+
+	_rotors.enablePropellerTorqueNonUpwards(false);
+
+	const bool mc_rotors_added_successfully = _rotors.addActuators(configuration);
+
+	_mc_motors_mask = _rotors.getUpwardsMotors();
+
+	// Control Surfaces
+	configuration.selected_matrix = 1;
+	_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
+
+	const bool surfaces_added_successfully = _control_surfaces.addActuators(configuration);
+
+	return (mc_rotors_added_successfully && surfaces_added_successfully);
+}
+
+void ActuatorEffectivenessStandardVTOLUnified::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp)
+{
+	// 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 ActuatorEffectivenessStandardVTOLUnified::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;
+	}
+}

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOLUnified.hpp

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ActuatorEffectivenessStandardVTOLUnified.hpp
+ *
+ * Actuator effectiveness for standard VTOL (unified control effectiveness)
+ *
+ */
+
+#pragma once
+
+#include "ActuatorEffectiveness.hpp"
+#include "ActuatorEffectivenessRotors.hpp"
+#include "ActuatorEffectivenessControlSurfaces.hpp"
+
+#include <uORB/topics/actuator_controls.h>
+
+class ActuatorEffectivenessStandardVTOLUnified : public ModuleParams, public ActuatorEffectiveness
+{
+public:
+	ActuatorEffectivenessStandardVTOLUnified(ModuleParams *parent);
+	virtual ~ActuatorEffectivenessStandardVTOLUnified() = default;
+
+	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
+
+	const char *name() const override { return "Standard VTOL Unified"; }
+
+	int numMatrices() const override { return 1; }
+
+	void getDesiredAllocationMethod(AllocationMethod allocation_method_out[MAX_NUM_MATRICES]) const override
+	{
+		static_assert(MAX_NUM_MATRICES >= 2, "expecting at least 2 matrices");
+		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
+		allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
+	}
+
+	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	{
+		normalize[0] = true;
+		normalize[1] = false;
+	}
+
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp) override;
+
+	void setFlightPhase(const FlightPhase &flight_phase) override;
+
+	uint32_t getStoppedMotors() const override { return _stopped_motors; }
+
+private:
+	ActuatorEffectivenessRotors _rotors;
+	ActuatorEffectivenessControlSurfaces _control_surfaces;
+
+	uint32_t _mc_motors_mask{}; ///< mc motors (stopped during forward flight)
+	uint32_t _stopped_motors{}; ///< currently stopped motors
+
+	int _first_control_surface_idx{0}; ///< applies to matrix 1
+
+	uORB::Subscription _actuator_controls_1_sub{ORB_ID(actuator_controls_0)};
+
+};

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt

@@ -52,6 +52,8 @@ px4_add_library(ActuatorEffectiveness
 	ActuatorEffectivenessRotors.hpp
 	ActuatorEffectivenessStandardVTOL.cpp
 	ActuatorEffectivenessStandardVTOL.hpp
+	ActuatorEffectivenessStandardVTOLUnified.cpp
+	ActuatorEffectivenessStandardVTOLUnified.hpp
 	ActuatorEffectivenessTiltrotorVTOL.cpp
 	ActuatorEffectivenessTiltrotorVTOL.hpp
 	ActuatorEffectivenessTailsitterVTOL.cpp

src/modules/control_allocator/ControlAllocator.cpp

@@ -260,6 +260,10 @@ ControlAllocator::update_effectiveness_source()
 			tmp = new ActuatorEffectivenessHelicopter(this);
 			break;
 
+		case EffectivenessSource::STANDARD_VTOL_UNIFIED:
+			tmp = new ActuatorEffectivenessStandardVTOLUnified(this);
+			break;
+
 		default:
 			PX4_ERR("Unknown airframe");
 			break;

src/modules/control_allocator/ControlAllocator.hpp

@@ -44,6 +44,7 @@
 #include <ActuatorEffectiveness.hpp>
 #include <ActuatorEffectivenessMultirotor.hpp>
 #include <ActuatorEffectivenessStandardVTOL.hpp>
+#include <ActuatorEffectivenessStandardVTOLUnified.hpp>
 #include <ActuatorEffectivenessTiltrotorVTOL.hpp>
 #include <ActuatorEffectivenessTailsitterVTOL.hpp>
 #include <ActuatorEffectivenessRoverAckermann.hpp>
@@ -153,6 +154,7 @@ private:
 		MULTIROTOR_WITH_TILT = 8,
 		CUSTOM = 9,
 		HELICOPTER = 10,
+		STANDARD_VTOL_UNIFIED = 11,
 	};
 
 	enum class FailureMode {

src/modules/control_allocator/module.yaml

@@ -28,6 +28,7 @@ parameters:
                 8: Multirotor with Tilt
                 9: Custom
                 10: Helicopter
+                11: Standard VTOL Unified (testing)
             default: 0
 
         CA_METHOD: