fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 06:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1

Browse Source 
- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
This commit is contained in:
Beat Küng
2022-02-25 08:30:58 +01:00
parent 1e32398217
commit 9b629a9e95
8 changed files with 264 additions and 164 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulator/simulator.h
+2 -3
View File
@@ -131,9 +131,7 @@ public:
#endif
private:
Simulator() : ModuleParams(nullptr)
{
}
Simulator();
~Simulator()
{
@@ -291,6 +289,7 @@ private:
float _last_magx{0.0f};
float _last_magy{0.0f};
float _last_magz{0.0f};
bool _use_dynamic_mixing{false};
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
px4::atomic<bool> _has_initialized {false};
src/modules/simulator/simulator_mavlink.cpp
+102 -81
View File
@@ -81,6 +81,14 @@ const unsigned mode_flag_custom = 1;
using namespace time_literals;
Simulator::Simulator()
: ModuleParams(nullptr)
{
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
_use_dynamic_mixing = sys_ctrl_alloc >= 1;
}
void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *msg)
{
memset(msg, 0, sizeof(mavlink_hil_actuator_controls_t));
@@ -91,88 +99,96 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
int _system_type = _param_mav_type.get();
/* 'pos_thrust_motors_count' indicates number of motor channels which are configured with 0..1 range (positive thrust)
all other motors are configured for -1..1 range */
unsigned pos_thrust_motors_count;
bool is_fixed_wing;
switch (_system_type) {
case MAV_TYPE_AIRSHIP:
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_COAXIAL:
pos_thrust_motors_count = 2;
is_fixed_wing = false;
break;
case MAV_TYPE_TRICOPTER:
pos_thrust_motors_count = 3;
is_fixed_wing = false;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
pos_thrust_motors_count = 4;
is_fixed_wing = false;
break;
case MAV_TYPE_VTOL_RESERVED2:
pos_thrust_motors_count = 5;
is_fixed_wing = false;
break;
case MAV_TYPE_HEXAROTOR:
pos_thrust_motors_count = 6;
is_fixed_wing = false;
break;
case MAV_TYPE_VTOL_RESERVED3:
// this is the tricopter VTOL / quad plane with 3 motors and 2 servos
pos_thrust_motors_count = 3;
is_fixed_wing = false;
break;
case MAV_TYPE_OCTOROTOR:
pos_thrust_motors_count = 8;
is_fixed_wing = false;
break;
case MAV_TYPE_SUBMARINE:
pos_thrust_motors_count = 0;
is_fixed_wing = false;
break;
case MAV_TYPE_FIXED_WING:
pos_thrust_motors_count = 0;
is_fixed_wing = true;
break;
default:
pos_thrust_motors_count = 0;
is_fixed_wing = false;
break;
}
for (unsigned i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
if (!armed) {
/* send 0 when disarmed and for disabled channels */
msg->controls[i] = 0.0f;
} else if ((is_fixed_wing && i == 4) ||
(!is_fixed_wing && i < pos_thrust_motors_count)) { //multirotor, rotor channel
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for rotors */
msg->controls[i] = (_actuator_outputs.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
msg->controls[i] = math::constrain(msg->controls[i], 0.f, 1.f);
} else {
const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
const float pwm_delta = (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2;
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for other channels */
msg->controls[i] = (_actuator_outputs.output[i] - pwm_center) / pwm_delta;
msg->controls[i] = math::constrain(msg->controls[i], -1.f, 1.f);
if (_use_dynamic_mixing) {
if (armed) {
for (unsigned i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
msg->controls[i] = _actuator_outputs.output[i];
}
}
} else {
/* 'pos_thrust_motors_count' indicates number of motor channels which are configured with 0..1 range (positive thrust)
all other motors are configured for -1..1 range */
unsigned pos_thrust_motors_count;
bool is_fixed_wing;
switch (_system_type) {
case MAV_TYPE_AIRSHIP:
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_COAXIAL:
pos_thrust_motors_count = 2;
is_fixed_wing = false;
break;
case MAV_TYPE_TRICOPTER:
pos_thrust_motors_count = 3;
is_fixed_wing = false;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
pos_thrust_motors_count = 4;
is_fixed_wing = false;
break;
case MAV_TYPE_VTOL_RESERVED2:
pos_thrust_motors_count = 5;
is_fixed_wing = false;
break;
case MAV_TYPE_HEXAROTOR:
pos_thrust_motors_count = 6;
is_fixed_wing = false;
break;
case MAV_TYPE_VTOL_RESERVED3:
// this is the tricopter VTOL / quad plane with 3 motors and 2 servos
pos_thrust_motors_count = 3;
is_fixed_wing = false;
break;
case MAV_TYPE_OCTOROTOR:
pos_thrust_motors_count = 8;
is_fixed_wing = false;
break;
case MAV_TYPE_SUBMARINE:
pos_thrust_motors_count = 0;
is_fixed_wing = false;
break;
case MAV_TYPE_FIXED_WING:
pos_thrust_motors_count = 0;
is_fixed_wing = true;
break;
default:
pos_thrust_motors_count = 0;
is_fixed_wing = false;
break;
}
for (unsigned i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
if (!armed) {
/* send 0 when disarmed and for disabled channels */
msg->controls[i] = 0.0f;
} else if ((is_fixed_wing && i == 4) ||
(!is_fixed_wing && i < pos_thrust_motors_count)) { //multirotor, rotor channel
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for rotors */
msg->controls[i] = (_actuator_outputs.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
msg->controls[i] = math::constrain(msg->controls[i], 0.f, 1.f);
} else {
const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
const float pwm_delta = (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2;
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for other channels */
msg->controls[i] = (_actuator_outputs.output[i] - pwm_center) / pwm_delta;
msg->controls[i] = math::constrain(msg->controls[i], -1.f, 1.f);
}
}
}
msg->mode = mode_flag_custom;
@@ -694,7 +710,12 @@ void Simulator::send()
// Subscribe to topics.
// Only subscribe to the first actuator_outputs to fill a single HIL_ACTUATOR_CONTROLS.
_actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs), 0);
if (_use_dynamic_mixing) {
_actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs_sim), 0);
} else {
_actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs), 0);
}
// Before starting, we ought to send a heartbeat to initiate the SITL
// simulator to start sending sensor data which will set the time and