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control_allocator: add Custom + MC with tilts effectiveness

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The param group is changed to Geometry, as this reflects the naming in the
QGC UI.
This commit is contained in:
Beat Küng
2021-12-10 13:15:11 +01:00
committed by Daniel Agar
parent 0818bb4be0
commit 8c782b7cd9
11 changed files with 377 additions and 27 deletions
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src/modules/control_allocator/module.yaml
+76 -2
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@@ -5,7 +5,7 @@ __max_num_tilts: &max_num_tilts 4
module_name: Control Allocation
parameters:
- group: Control Allocation
- group: Geometry
definitions:
CA_AIRFRAME:
description:
@@ -13,6 +13,8 @@ parameters:
long: |
Defines which mixer implementation to use.
Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.
'Custom' should only be used if noting else can be used.
type: enum
values:
0: Multirotor
@@ -23,6 +25,8 @@ parameters:
5: Rover (Ackermann)
6: Rover (Differential)
7: Motors (6DOF)
8: Multirotor with Tilt
9: Custom
default: 0
CA_METHOD:
@@ -312,10 +316,12 @@ parameters:
description:
short: Tilt ${i} is used for control
long: Define if this servo is used for additional control.
type: enum
type: enum # This could be a bitset, but the enum shows up nicer in the UI
values:
0: 'None'
1: 'Yaw'
2: 'Pitch'
3: 'Yaw and Pitch'
num_instances: *max_num_tilts
instance_start: 0
default: 1
@@ -358,6 +364,8 @@ parameters:
values:
0: 'Towards Front'
90: 'Towards Right'
min: 0
max: 359
num_instances: *max_num_tilts
instance_start: 0
default: 0
@@ -643,3 +651,69 @@ mixer:
- name: 'CA_ROTOR${i}_KM'
label: "Moment\nCoefficient"
8: # Multirotor with Tilt
actuators:
- actuator_type: 'motor'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_KM'
label: 'Direction CCW'
function: 'spin-dir'
show_as: 'true-if-positive'
- name: 'CA_ROTOR${i}_TILT'
label: 'Tilted by'
- actuator_type: 'servo'
group_label: 'Tilt Servos'
count: 'CA_SV_TL_COUNT'
item_label_prefix: 'Tilt ${i}'
per_item_parameters:
extra:
- name: 'CA_SV_TL${i}_MINA'
label: "Angle at Min\nTilt"
- name: 'CA_SV_TL${i}_MAXA'
label: "Angle at Max\nTilt"
- name: 'CA_SV_TL${i}_TD'
label: 'Tilt Direction'
- name: 'CA_SV_TL${i}_CT'
label: 'Use for Control'
9: # Custom
actuators:
- actuator_type: 'motor'
group_label: 'Thrust/Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- name: 'CA_ROTOR${i}_CT'
label: "Thrust\nCoefficient"
- name: 'CA_ROTOR${i}_KM'
label: "Moment\nCoefficient"
- actuator_type: 'servo'
group_label: 'Torque'
count: 'CA_SV_CS_COUNT'
item_label_prefix: 'Torque ${i}'
per_item_parameters:
extra:
- name: 'CA_SV_CS${i}_TRQ_R'
label: 'Roll Scale'
- name: 'CA_SV_CS${i}_TRQ_P'
label: 'Pitch Scale'
- name: 'CA_SV_CS${i}_TRQ_Y'
label: 'Yaw Scale'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'