control_allocator: add Custom + MC with tilts effectiveness

The param group is changed to Geometry, as this reflects the naming in the QGC UI.
2026-10-19 10:03:34 +08:00 · 2021-12-24 20:06:13 -05:00
parent 0818bb4be0
commit 8c782b7cd9
11 changed files with 377 additions and 27 deletions
@@ -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
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+ *
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+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
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+ *    the documentation and/or other materials provided with the
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+ * 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
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+ ****************************************************************************/
+
+#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
+}