Make control allocation and actuator effectiveness a non-module-specific library (#24196)

* Remove more circular dependencies with ActuatorEffectiveness * Separate vehicle specific actuator effectiveness Keep actuator effectivenss in control allocator * Remove test dependency for now * Group library directories Fix * Change directory names * Rebase fix
2026-10-23 15:23:34 +08:00 · 2025-01-15 10:12:29 +01:00
parent 3064a4ad4c
commit 974446c0e8
48 changed files with 98 additions and 52 deletions
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
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+ * Redistribution and use in source and binary forms, with or without
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+ ****************************************************************************/
+
+#include "ActuatorEffectiveness.hpp"
+
+#include <px4_platform_common/log.h>
+
+int ActuatorEffectiveness::Configuration::addActuator(ActuatorType type, const matrix::Vector3f &torque,
+		const matrix::Vector3f &thrust)
+{
+	int actuator_idx = num_actuators_matrix[selected_matrix];
+
+	if (actuator_idx >= NUM_ACTUATORS) {
+		PX4_ERR("Too many actuators");
+		return -1;
+	}
+
+	if ((int)type < (int)ActuatorType::COUNT - 1 && num_actuators[(int)type + 1] > 0) {
+		PX4_ERR("Trying to add actuators in the wrong order (add motors first, then servos)");
+		return -1;
+	}
+
+	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::ROLL, actuator_idx) = torque(0);
+	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::PITCH, actuator_idx) = torque(1);
+	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::YAW, actuator_idx) = torque(2);
+	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_X, actuator_idx) = thrust(0);
+	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_Y, actuator_idx) = thrust(1);
+	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_Z, actuator_idx) = thrust(2);
+	matrix_selection_indexes[totalNumActuators()] = selected_matrix;
+	++num_actuators[(int)type];
+	return num_actuators_matrix[selected_matrix]++;
+}
+
+void ActuatorEffectiveness::Configuration::actuatorsAdded(ActuatorType type, int count)
+{
+	int total_count = totalNumActuators();
+
+	for (int i = 0; i < count; ++i) {
+		matrix_selection_indexes[i + total_count] = selected_matrix;
+	}
+
+	num_actuators[(int)type] += count;
+	num_actuators_matrix[selected_matrix] += count;
+}
+
+int ActuatorEffectiveness::Configuration::totalNumActuators() const
+{
+	int total_count = 0;
+
+	for (int i = 0; i < MAX_NUM_MATRICES; ++i) {
+		total_count += num_actuators_matrix[i];
+	}
+
+	return total_count;
+}
+
+void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(uint32_t stoppable_motors_mask, ActuatorVector &actuator_sp)
+{
+	for (int actuator_idx = 0; actuator_idx < NUM_ACTUATORS; actuator_idx++) {
+		const uint32_t motor_mask = (1u << actuator_idx);
+
+		if (stoppable_motors_mask & motor_mask) {
+
+			// Stop motor if its setpoint is below 2%. This value was determined empirically (RC stick inaccuracy)
+			if (fabsf(actuator_sp(actuator_idx)) < .02f) {
+				_stopped_motors_mask |= motor_mask;
+
+			} else {
+				_stopped_motors_mask &= ~motor_mask;
+			}
+		}
+	}
+}