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Mixer: Added 3D thrust capability to the multirotor and 6-dof mixers

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- Added 3D thrust definitions to actuator controls and multirotor motor limits messages
This commit is contained in:
Azarakhsh Keipour
2019-08-26 18:00:54 -04:00
parent d7f61e41d8
commit a878d6823d
5 changed files with 54 additions and 36 deletions
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msg/actuator_controls.msg
+4 -1
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@@ -9,10 +9,13 @@ uint8 INDEX_FLAPS = 4
uint8 INDEX_SPOILERS = 5
uint8 INDEX_AIRBRAKES = 6
uint8 INDEX_LANDING_GEAR = 7
uint8 INDEX_X_THRUST = 8
uint8 INDEX_Y_THRUST = 9
uint8 INDEX_Z_THRUST = 10
uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
float32[11] control
# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
msg/multirotor_motor_limits.msg
+15 -11
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@@ -1,14 +1,18 @@
uint64 timestamp # time since system start (microseconds)
uint16 saturation_status # Integer bit mask indicating which axes in the control mixer are saturated
# 0 - True if the saturation status is valid
# 1 - True if any motor is saturated at the upper limit
# 2 - True if any motor is saturated at the lower limit
# 3 - True if a positive roll increment will increase motor saturation
# 4 - True if negative roll increment will increase motor saturation
# 5 - True if positive pitch increment will increase motor saturation
# 6 - True if negative pitch increment will increase motor saturation
# 7 - True if positive yaw increment will increase motor saturation
# 8 - True if negative yaw increment will increase motor saturation
# 9 - True if positive thrust increment will increase motor saturation
# 10 - True if negative thrust increment will increase motor saturation
uint8 INDEX_VALID = 0 # True if the saturation status is valid
uint8 INDEX_MOTOR_POS = 1 # True if any motor is saturated at the upper limit
uint8 INDEX_MOTOR_NEG = 2 # True if any motor is saturated at the lower limit
uint8 INDEX_ROLL_POS = 3 # True if a positive roll increment will increase motor saturation
uint8 INDEX_ROLL_NEG = 4 # True if negative roll increment will increase motor saturation
uint8 INDEX_PITCH_POS = 5 # True if positive pitch increment will increase motor saturation
uint8 INDEX_PITCH_NEG = 6 # True if negative pitch increment will increase motor saturation
uint8 INDEX_YAW_POS = 7 # True if positive yaw increment will increase motor saturation
uint8 INDEX_YAW_NEG = 8 # True if negative yaw increment will increase motor saturation
uint8 INDEX_X_THRUST_POS = 9 # True if positive X thrust increment will increase motor saturation
uint8 INDEX_X_THRUST_NEG = 10 # True if negative X thrust increment will increase motor saturation
uint8 INDEX_Y_THRUST_POS = 11 # True if positive Y thrust increment will increase motor saturation
uint8 INDEX_Y_THRUST_NEG = 12 # True if negative Y thrust increment will increase motor saturation
uint8 INDEX_Z_THRUST_POS = 13 # True if positive Z thrust increment will increase motor saturation
uint8 INDEX_Z_THRUST_NEG = 14 # True if negative Z thrust increment will increase motor saturation
src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp
+11 -4
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@@ -470,8 +470,9 @@ MultirotorMixer::update_saturation_status(unsigned index, bool clipping_high, bo
_saturation_status.flags.yaw_neg = true;
}
// A positive change in thrust will increase saturation
_saturation_status.flags.thrust_pos = true;
// A negative change in Z thrust will increase saturation
_saturation_status.flags.z_thrust_neg = true;
}
// The motor is saturated at the lower limit
@@ -497,8 +498,8 @@ MultirotorMixer::update_saturation_status(unsigned index, bool clipping_high, bo
_saturation_status.flags.pitch_pos = true;
}
// A negative change in thrust will increase saturation
_saturation_status.flags.thrust_neg = true;
// A positive change in Z thrust will increase saturation
_saturation_status.flags.z_thrust_pos = true;
}
if (clipping_low_yaw) {
@@ -513,5 +514,11 @@ MultirotorMixer::update_saturation_status(unsigned index, bool clipping_high, bo
}
}
// X and Y thrusts are not controlled
_saturation_status.flags.x_thrust_pos = true;
_saturation_status.flags.x_thrust_neg = true;
_saturation_status.flags.y_thrust_pos = true;
_saturation_status.flags.y_thrust_neg = true;
_saturation_status.flags.valid = true;
}
src/lib/mixer/MultirotorMixer/MultirotorMixer.hpp
+12 -8
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@@ -161,8 +161,12 @@ public:
uint16_t pitch_neg : 1; // 6 - true when a negative pitch demand change will increase saturation
uint16_t yaw_pos : 1; // 7 - true when a positive yaw demand change will increase saturation
uint16_t yaw_neg : 1; // 8 - true when a negative yaw demand change will increase saturation
uint16_t thrust_pos : 1; // 9 - true when a positive thrust demand change will increase saturation
uint16_t thrust_neg : 1; //10 - true when a negative thrust demand change will increase saturation
uint16_t x_thrust_pos : 1; // 9 - true when a positive x thrust demand change will increase saturation
uint16_t x_thrust_neg : 1; //10 - true when a negative x thrust demand change will increase saturation
uint16_t y_thrust_pos : 1; //11 - true when a positive y thrust demand change will increase saturation
uint16_t y_thrust_neg : 1; //12 - true when a negative y thrust demand change will increase saturation
uint16_t z_thrust_pos : 1; //13 - true when a positive z thrust demand change will increase saturation
uint16_t z_thrust_neg : 1; //14 - true when a negative z thrust demand change will increase saturation
} flags;
uint16_t value;
};
@@ -386,12 +390,12 @@ public:
uint16_t pitch_neg : 1; // 6 - true when a negative pitch demand change will increase saturation
uint16_t yaw_pos : 1; // 7 - true when a positive yaw demand change will increase saturation
uint16_t yaw_neg : 1; // 8 - true when a negative yaw demand change will increase saturation
uint16_t x_pos : 1; // 9 - true when a positive x thrust demand change will increase saturation
uint16_t x_neg : 1; //10 - true when a negative x thrust demand change will increase saturation
uint16_t y_pos : 1; //11 - true when a positive y thrust demand change will increase saturation
uint16_t y_neg : 1; //12 - true when a negative y thrust demand change will increase saturation
uint16_t z_pos : 1; //13 - true when a positive z thrust demand change will increase saturation
uint16_t z_neg : 1; //14 - true when a negative z thrust demand change will increase saturation
uint16_t x_thrust_pos : 1; // 9 - true when a positive x thrust demand change will increase saturation
uint16_t x_thrust_neg : 1; //10 - true when a negative x thrust demand change will increase saturation
uint16_t y_thrust_pos : 1; //11 - true when a positive y thrust demand change will increase saturation
uint16_t y_thrust_neg : 1; //12 - true when a negative y thrust demand change will increase saturation
uint16_t z_thrust_pos : 1; //13 - true when a positive z thrust demand change will increase saturation
uint16_t z_thrust_neg : 1; //14 - true when a negative z thrust demand change will increase saturation
} flags;
uint16_t value;
};
src/lib/mixer/MultirotorMixer/MultirotorMixer6dof.cpp
+12 -12
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@@ -467,31 +467,31 @@ MultirotorMixer6dof::update_saturation_status(unsigned index, bool clipping_high
// check if the x input is saturating
if (_rotors[index].x_scale > 0.0f) {
// A positive change in x will increase saturation
_saturation_status.flags.x_pos = true;
_saturation_status.flags.x_thrust_pos = true;
} else if (_rotors[index].x_scale < 0.0f) {
// A negative change in x will increase saturation
_saturation_status.flags.x_neg = true;
_saturation_status.flags.x_thrust_neg = true;
}
// check if the y input is saturating
if (_rotors[index].y_scale > 0.0f) {
// A positive change in y will increase saturation
_saturation_status.flags.y_pos = true;
_saturation_status.flags.y_thrust_pos = true;
} else if (_rotors[index].y_scale < 0.0f) {
// A negative change in y will increase saturation
_saturation_status.flags.y_neg = true;
_saturation_status.flags.y_thrust_neg = true;
}
// check if the z input is saturating
if (_rotors[index].z_scale > 0.0f) {
// A positive change in z will increase saturation
_saturation_status.flags.z_pos = true;
_saturation_status.flags.z_thrust_pos = true;
} else if (_rotors[index].z_scale < 0.0f) {
// A negative change in z will increase saturation
_saturation_status.flags.z_neg = true;
_saturation_status.flags.z_thrust_neg = true;
}
}
@@ -521,31 +521,31 @@ MultirotorMixer6dof::update_saturation_status(unsigned index, bool clipping_high
// check if the x input is saturating
if (_rotors[index].x_scale > 0.0f) {
// A negative change in x will increase saturation
_saturation_status.flags.x_neg = true;
_saturation_status.flags.x_thrust_neg = true;
} else if (_rotors[index].x_scale < 0.0f) {
// A positive change in x will increase saturation
_saturation_status.flags.x_pos = true;
_saturation_status.flags.x_thrust_pos = true;
}
// check if the y input is saturating
if (_rotors[index].y_scale > 0.0f) {
// A negative change in y will increase saturation
_saturation_status.flags.y_neg = true;
_saturation_status.flags.y_thrust_neg = true;
} else if (_rotors[index].y_scale < 0.0f) {
// A positive change in y will increase saturation
_saturation_status.flags.y_pos = true;
_saturation_status.flags.y_thrust_pos = true;
}
// check if the z input is saturating
if (_rotors[index].z_scale > 0.0f) {
// A negative change in z will increase saturation
_saturation_status.flags.z_neg = true;
_saturation_status.flags.z_thrust_neg = true;
} else if (_rotors[index].z_scale < 0.0f) {
// A positive change in z will increase saturation
_saturation_status.flags.z_pos = true;
_saturation_status.flags.z_thrust_pos = true;
}
}