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compute and publish fixed-wing control power

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bresch
2021-10-25 13:41:31 +02:00
committed by Mathieu Bresciani
parent d84b0296d2
commit 8dfdb1e3db
2 changed files with 46 additions and 0 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+38
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@@ -44,6 +44,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
_actuators_0_pub(vtol ? ORB_ID(actuator_controls_virtual_fw) : ORB_ID(actuator_controls_0)),
_actuator_controls_status_pub(vtol ? ORB_ID(actuator_controls_status_1) : ORB_ID(actuator_controls_status_0)),
_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
@@ -642,6 +643,8 @@ void FixedwingAttitudeControl::Run()
_vcontrol_mode.flag_control_manual_enabled) {
_actuators_0_pub.publish(_actuators);
}
updateActuatorControlsStatus(dt);
}
perf_end(_loop_perf);
@@ -712,6 +715,41 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
}
}
void FixedwingAttitudeControl::updateActuatorControlsStatus(float dt)
{
for (int i = 0; i < 4; i++) {
float control_signal;
if (i <= actuator_controls_status_s::INDEX_YAW) {
// We assume that the attitude is actuated by control surfaces
// consuming power only when they move
control_signal = _actuators.control[i] - _control_prev[i];
_control_prev[i] = _actuators.control[i];
} else {
control_signal = _actuators.control[i];
}
_control_energy[i] += control_signal * control_signal * dt;
}
_energy_integration_time += dt;
if (_energy_integration_time > 500e-3f) {
actuator_controls_status_s status;
status.timestamp = _actuators.timestamp;
for (int i = 0; i < 4; i++) {
status.control_power[i] = _control_energy[i] / _energy_integration_time;
_control_energy[i] = 0.f;
}
_actuator_controls_status_pub.publish(status);
_energy_integration_time = 0.f;
}
}
int FixedwingAttitudeControl::task_spawn(int argc, char *argv[])
{
bool vtol = false;