control_allocator: add Custom + MC with tilts effectiveness

The param group is changed to Geometry, as this reflects the naming in the
QGC UI.

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp

@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "ActuatorEffectivenessCustom.hpp"
+
+using namespace matrix;
+
+ActuatorEffectivenessCustom::ActuatorEffectivenessCustom(ModuleParams *parent)
+	: ModuleParams(parent), _motors(this), _torque(this)
+{
+}
+
+bool
+ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration, bool force)
+{
+	if (!force) {
+		return false;
+	}
+
+	// motors
+	_motors.enableYawControl(false);
+	_motors.getEffectivenessMatrix(configuration, true);
+
+	// Torque
+	_torque.getEffectivenessMatrix(configuration, true);
+
+	return true;
+}
+

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "ActuatorEffectiveness.hpp"
+#include "ActuatorEffectivenessRotors.hpp"
+#include "ActuatorEffectivenessControlSurfaces.hpp"
+
+class ActuatorEffectivenessCustom : public ModuleParams, public ActuatorEffectiveness
+{
+public:
+	ActuatorEffectivenessCustom(ModuleParams *parent);
+	virtual ~ActuatorEffectivenessCustom() = default;
+
+	bool getEffectivenessMatrix(Configuration &configuration, bool force) override;
+
+	const char *name() const override { return "Custom"; }
+
+protected:
+	ActuatorEffectivenessRotors _motors;
+	ActuatorEffectivenessControlSurfaces _torque;
+};

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "ActuatorEffectivenessMCTilt.hpp"
+
+using namespace matrix;
+
+ActuatorEffectivenessMCTilt::ActuatorEffectivenessMCTilt(ModuleParams *parent)
+	: ModuleParams(parent),
+	  _mc_rotors(this, ActuatorEffectivenessRotors::AxisConfiguration::FixedUpwards, true),
+	  _tilts(this)
+{
+}
+
+bool
+ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration, bool force)
+{
+	if (!force) {
+		return false;
+	}
+
+	// MC motors
+	_mc_rotors.enableYawControl(!_tilts.hasYawControl());
+	_mc_rotors.getEffectivenessMatrix(configuration, true);
+
+	// Tilts
+	int first_tilt_idx = configuration.num_actuators_matrix[0];
+	_tilts.updateTorqueSign(_mc_rotors.geometry());
+	_tilts.getEffectivenessMatrix(configuration, true);
+
+	// Set offset such that tilts point upwards when control input == 0 (trim is 0 if min_angle == -max_angle).
+	// Note that we don't set configuration.trim here, because in the case of trim == +-1, yaw is always saturated
+	// and reduced to 0 with the sequential desaturation method. Instead we add it after.
+	_tilt_offsets.setZero();
+
+	for (int i = 0; i < _tilts.count(); ++i) {
+		float delta_angle = _tilts.config(i).max_angle - _tilts.config(i).min_angle;
+
+		if (delta_angle > FLT_EPSILON) {
+			float trim = -1.f - 2.f * _tilts.config(i).min_angle / delta_angle;
+			_tilt_offsets(first_tilt_idx + i) = trim;
+		}
+	}
+
+	return true;
+}
+
+void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp)
+{
+	actuator_sp += _tilt_offsets;
+	// TODO: dynamic matrix update
+}

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "ActuatorEffectiveness.hpp"
+#include "ActuatorEffectivenessRotors.hpp"
+#include "ActuatorEffectivenessTilts.hpp"
+
+class ActuatorEffectivenessMCTilt : public ModuleParams, public ActuatorEffectiveness
+{
+public:
+	ActuatorEffectivenessMCTilt(ModuleParams *parent);
+	virtual ~ActuatorEffectivenessMCTilt() = default;
+
+	bool getEffectivenessMatrix(Configuration &configuration, bool force) override;
+
+	void getDesiredAllocationMethod(AllocationMethod allocation_method_out[MAX_NUM_MATRICES]) const override
+	{
+		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
+	}
+
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp) override;
+
+	const char *name() const override { return "MC Tilt"; }
+
+protected:
+	ActuatorVector _tilt_offsets;
+	ActuatorEffectivenessRotors _mc_rotors;
+	ActuatorEffectivenessTilts _tilts;
+};

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp

@@ -72,7 +72,7 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config
 	// Tilts
 	configuration.selected_matrix = 0;
 	_first_tilt_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
-	_tilts.updateYawSign(_mc_rotors.geometry());
+	_tilts.updateTorqueSign(_mc_rotors.geometry(), true /* disable pitch to avoid configuration errors */);
 	_tilts.getEffectivenessMatrix(configuration, true);
 
 	_updated = false;

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.cpp

@@ -80,7 +80,7 @@ void ActuatorEffectivenessTilts::updateParams()
 		_params[i].min_angle = math::radians(_params[i].min_angle);
 		_params[i].max_angle = math::radians(_params[i].max_angle);
 
-		_yaw_torque[i] = 0.f;
+		_torque[i].setZero();
 	}
 }
 
@@ -91,19 +91,14 @@ bool ActuatorEffectivenessTilts::getEffectivenessMatrix(Configuration &configura
 	}
 
 	for (int i = 0; i < _count; i++) {
-		Vector3f torque{};
-
-		if (_params[i].control == Control::Yaw) {
-			torque(2) = _yaw_torque[i];
-		}
-
-		configuration.addActuator(ActuatorType::SERVOS, torque, Vector3f{});
+		configuration.addActuator(ActuatorType::SERVOS, _torque[i], Vector3f{});
 	}
 
 	return true;
 }
 
-void ActuatorEffectivenessTilts::updateYawSign(const ActuatorEffectivenessRotors::Geometry &geometry)
+void ActuatorEffectivenessTilts::updateTorqueSign(const ActuatorEffectivenessRotors::Geometry &geometry,
+		bool disable_pitch)
 {
 	for (int i = 0; i < geometry.num_rotors; ++i) {
 		int tilt_index = geometry.rotors[i].tilt_index;
@@ -112,28 +107,34 @@ void ActuatorEffectivenessTilts::updateYawSign(const ActuatorEffectivenessRotors
 			continue;
 		}
 
-		if (_params[tilt_index].control != Control::Yaw) {
-			continue;
+		if (_params[tilt_index].control == Control::Yaw || _params[tilt_index].control == Control::YawAndPitch) {
+
+			// Find the yaw torque sign by checking the motor position and tilt direction.
+			// Rotate position by -tilt_direction around z, then check the sign of y pos
+			float tilt_direction = math::radians((float)_params[tilt_index].tilt_direction);
+			Vector3f rotated_pos = Dcmf{Eulerf{0.f, 0.f, -tilt_direction}} * geometry.rotors[i].position;
+
+			if (rotated_pos(1) < -0.01f) { // add minimal margin
+				_torque[tilt_index](2) = 1.f;
+
+			} else if (rotated_pos(1) > 0.01f) {
+				_torque[tilt_index](2) = -1.f;
+			}
 		}
 
-		// Find the yaw torque sign by checking the motor position and tilt direction.
-		// Rotate position by -tilt_direction around z, then check the sign of y pos
-		float tilt_direction = math::radians((float)_params[tilt_index].tilt_direction);
-		Vector3f rotated_pos = Dcmf{Eulerf{0.f, 0.f, -tilt_direction}} * geometry.rotors[i].position;
-
-		if (rotated_pos(1) < -0.01f) { // add minimal margin
-			_yaw_torque[tilt_index] = 1.f;
-
-		} else if (rotated_pos(1) > 0.01f) {
-			_yaw_torque[tilt_index] = -1.f;
+		if (!disable_pitch && (_params[tilt_index].control == Control::Pitch
+				       || _params[tilt_index].control == Control::YawAndPitch)) {
+			bool tilting_forwards = (int)_params[tilt_index].tilt_direction < 90 || (int)_params[tilt_index].tilt_direction > 270;
+			_torque[tilt_index](1) = tilting_forwards ? -1.f : 1.f;
 		}
+
 	}
 }
 
 bool ActuatorEffectivenessTilts::hasYawControl() const
 {
 	for (int i = 0; i < _count; i++) {
-		if (_params[i].control == Control::Yaw) {
+		if (_params[i].control == Control::Yaw || _params[i].control == Control::YawAndPitch) {
 			return true;
 		}
 	}

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp

@@ -48,6 +48,8 @@ public:
 		// This matches with the parameter
 		None = 0,
 		Yaw = 1,
+		Pitch = 2,
+		YawAndPitch = 3,
 	};
 	enum class TiltDirection : int32_t {
 		// This matches with the parameter
@@ -73,7 +75,7 @@ public:
 
 	const Params &config(int idx) const { return _params[idx]; }
 
-	void updateYawSign(const ActuatorEffectivenessRotors::Geometry &geometry);
+	void updateTorqueSign(const ActuatorEffectivenessRotors::Geometry &geometry, bool disable_pitch = false);
 
 	bool hasYawControl() const;
 
@@ -93,5 +95,5 @@ private:
 	Params _params[MAX_COUNT] {};
 	int _count{0};
 
-	float _yaw_torque[MAX_COUNT] {};
+	matrix::Vector3f _torque[MAX_COUNT] {};
 };

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt

@@ -36,8 +36,12 @@ px4_add_library(ActuatorEffectiveness
 	ActuatorEffectiveness.hpp
 	ActuatorEffectivenessControlSurfaces.cpp
 	ActuatorEffectivenessControlSurfaces.hpp
+	ActuatorEffectivenessCustom.cpp
+	ActuatorEffectivenessCustom.hpp
 	ActuatorEffectivenessFixedWing.cpp
 	ActuatorEffectivenessFixedWing.hpp
+	ActuatorEffectivenessMCTilt.cpp
+	ActuatorEffectivenessMCTilt.hpp
 	ActuatorEffectivenessTilts.cpp
 	ActuatorEffectivenessTilts.hpp
 	ActuatorEffectivenessRotors.cpp