control_allocator: add fixed-wing actuator effectiveness

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp

@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   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 "ActuatorEffectivenessFixedWing.hpp"
+#include <ControlAllocation/ControlAllocation.hpp>
+
+using namespace matrix;
+
+ActuatorEffectivenessFixedWing::ActuatorEffectivenessFixedWing(ModuleParams *parent)
+	: ModuleParams(parent), _rotors(this, ActuatorEffectivenessRotors::AxisConfiguration::FixedForward),
+	  _control_surfaces(this)
+{
+}
+
+bool
+ActuatorEffectivenessFixedWing::getEffectivenessMatrix(Configuration &configuration, bool force)
+{
+	if (!force) {
+		return false;
+	}
+
+	// Motors
+	_rotors.enableYawControl(false);
+	_rotors.getEffectivenessMatrix(configuration, true);
+
+	// Control Surfaces
+	_first_control_surface_idx = configuration.num_actuators_matrix[0];
+	_control_surfaces.getEffectivenessMatrix(configuration, true);
+
+	return true;
+}
+
+void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp)
+{
+	// apply flaps
+	actuator_controls_s actuator_controls_0;
+
+	if (_actuator_controls_0_sub.copy(&actuator_controls_0)) {
+		float control_flaps = actuator_controls_0.control[actuator_controls_s::INDEX_FLAPS];
+		float airbrakes_control = actuator_controls_0.control[actuator_controls_s::INDEX_AIRBRAKES];
+		_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
+	}
+}

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.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 "ActuatorEffectivenessControlSurfaces.hpp"
+
+#include <uORB/topics/actuator_controls.h>
+
+class ActuatorEffectivenessFixedWing : public ModuleParams, public ActuatorEffectiveness
+{
+public:
+	ActuatorEffectivenessFixedWing(ModuleParams *parent);
+	virtual ~ActuatorEffectivenessFixedWing() = default;
+
+	bool getEffectivenessMatrix(Configuration &configuration, bool force) override;
+
+	const char *name() const override { return "Fixed Wing"; }
+
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp) override;
+
+private:
+	ActuatorEffectivenessRotors _rotors;
+	ActuatorEffectivenessControlSurfaces _control_surfaces;
+
+	uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
+
+	int _first_control_surface_idx{0}; ///< applies to matrix 1
+};

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt

@@ -36,6 +36,8 @@ px4_add_library(ActuatorEffectiveness
 	ActuatorEffectiveness.hpp
 	ActuatorEffectivenessControlSurfaces.cpp
 	ActuatorEffectivenessControlSurfaces.hpp
+	ActuatorEffectivenessFixedWing.cpp
+	ActuatorEffectivenessFixedWing.hpp
 	ActuatorEffectivenessTilts.cpp
 	ActuatorEffectivenessTilts.hpp
 	ActuatorEffectivenessRotors.cpp