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feat: addition of functions

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This commit is contained in:
Pedro-Roque
2025-01-30 16:30:56 +01:00
parent e7bc64ea97
commit a916f50718
5 changed files with 31 additions and 387 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart
+1 -1
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@@ -9,7 +9,7 @@
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 14
param set-default CA_AIRFRAME 15
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 12
ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d
+1 -1
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@@ -21,7 +21,7 @@ param set-default SENS_EN_MAGSIM 1
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
param set-default CA_AIRFRAME 13
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 8
ROMFS/px4fmu_common/init.d/rc.sc_defaults
-1
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@@ -25,4 +25,3 @@ param set-default EKF2_EV_CTRL 15
param set-default EKF2_EV_DELAY 5
param set-default EKF2_GPS_CTRL 0
param set-default EKF2_HGT_REF 3
src/lib/mixer_module/CMakeLists.txt
+1
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@@ -53,6 +53,7 @@ px4_add_library(mixer_module
functions/FunctionMotors.hpp
functions/FunctionParachute.hpp
functions/FunctionServos.hpp
functions/FunctionThrusters.hpp
actuator_test.cpp
actuator_test.hpp
src/modules/sc_control_allocator/module.yaml
+28 -384
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@@ -1,5 +1,5 @@
__max_num_mc_motors: &max_num_mc_motors 12
__max_num_sc_thrusters: &max_num_sc_thrusters 12
__max_num_thrusters: &max_num_thrusters 12
__max_num_servos: &max_num_servos 8
__max_num_tilts: &max_num_tilts 4
@@ -22,199 +22,8 @@ parameters:
2: Automatic
default: 1
# Motor parameters
SC_CA_R_REV:
description:
short: Bidirectional/Reversible motors
long: |
Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.
type: bitmask
bit:
0: Motor 1
1: Motor 2
2: Motor 3
3: Motor 4
4: Motor 5
5: Motor 6
6: Motor 7
7: Motor 8
8: Motor 9
9: Motor 10
10: Motor 11
11: Motor 12
default: 0
SC_CA_R${i}_SLEW:
description:
short: Motor ${i} slew rate limit
long: |
Minimum time allowed for the motor input signal to pass through
the full output range. A value x means that the motor signal
can only go from 0 to 1 in minimum x seconds (in case of
reversible motors, the range is -1 to 1).
Zero means that slew rate limiting is disabled.
type: float
decimal: 2
increment: 0.01
num_instances: *max_num_mc_motors
min: 0
max: 10
default: 0.0
# Servo params
SC_CA_SV${i}_SLEW:
description:
short: Servo ${i} slew rate limit
long: |
Minimum time allowed for the servo input signal to pass through
the full output range. A value x means that the servo signal
can only go from -1 to 1 in minimum x seconds.
Zero means that slew rate limiting is disabled.
type: float
decimal: 2
increment: 0.05
num_instances: *max_num_servos
min: 0
max: 10
default: 0.0
# Motors for external disturbances
SC_CA_ROTOR_COUNT:
description:
short: Total number of rotors
type: enum
values:
0: '0'
1: '1'
2: '2'
3: '3'
4: '4'
5: '5'
6: '6'
7: '7'
8: '8'
9: '9'
10: '10'
11: '11'
12: '12'
default: 0
SC_CA_ROTOR${i}_PX:
description:
short: Position of rotor ${i} along X body axis relative to center of gravity
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
SC_CA_ROTOR${i}_PY:
description:
short: Position of rotor ${i} along Y body axis relative to center of gravity
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
SC_CA_ROTOR${i}_PZ:
description:
short: Position of rotor ${i} along Z body axis relative to center of gravity
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
SC_CA_ROTOR${i}_AX:
description:
short: Axis of rotor ${i} thrust vector, X body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
SC_CA_ROTOR${i}_AY:
description:
short: Axis of rotor ${i} thrust vector, Y body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
SC_CA_ROTOR${i}_AZ:
description:
short: Axis of rotor ${i} thrust vector, Z body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: -1.0
SC_CA_ROTOR${i}_CT:
description:
short: Thrust coefficient of rotor ${i}
long: |
The thrust coefficient if defined as Thrust = CT * u^2,
where u (with value between actuator minimum and maximum)
is the output signal sent to the motor controller.
type: float
decimal: 1
increment: 1
num_instances: *max_num_mc_motors
min: 0
max: 100
default: 6.5
SC_CA_ROTOR${i}_KM:
description:
short: Moment coefficient of rotor ${i}
long: |
The moment coefficient if defined as Torque = KM * Thrust.
Use a positive value for a rotor with CCW rotation.
Use a negative value for a rotor with CW rotation.
type: float
decimal: 3
increment: 0.01
num_instances: *max_num_mc_motors
min: -1
max: 1
default: 0.05
SC_CA_ROTOR${i}_TILT:
description:
short: Rotor ${i} tilt assignment
long: If not set to None, this motor is tilted by the configured tilt servo.
type: enum
values:
0: 'None'
1: 'Tilt 1'
2: 'Tilt 2'
3: 'Tilt 3'
4: 'Tilt 4'
num_instances: *max_num_mc_motors
instance_start: 0
default: 0
# (SC) Thrusters
SC_CA_THRUSTER_CNT:
CA_THRUSTER_CNT:
description:
short: Total number of thrusters
type: enum
@@ -233,74 +42,74 @@ parameters:
11: '11'
12: '12'
default: 0
SC_CA_THRUSTER${i}_PX:
CA_THRUSTER${i}_PX:
description:
short: Position of thruster ${i} along X body axis
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_sc_thrusters
num_instances: *max_num_thrusters
min: -100
max: 100
default: 0.0
SC_CA_THRUSTER${i}_PY:
CA_THRUSTER${i}_PY:
description:
short: Position of thruster ${i} along Y body axis
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_sc_thrusters
num_instances: *max_num_thrusters
min: -100
max: 100
default: 0.0
SC_CA_THRUSTER${i}_PZ:
CA_THRUSTER${i}_PZ:
description:
short: Position of thruster ${i} along Z body axis
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_sc_thrusters
num_instances: *max_num_thrusters
min: -100
max: 100
default: 0.0
SC_CA_THRUSTER${i}_AX:
CA_THRUSTER${i}_AX:
description:
short: Axis of thruster ${i} thrust vector, X body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_sc_thrusters
num_instances: *max_num_thrusters
min: -100
max: 100
default: 0.0
SC_CA_THRUSTER${i}_AY:
CA_THRUSTER${i}_AY:
description:
short: Axis of thruster ${i} thrust vector, Y body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_sc_thrusters
num_instances: *max_num_thrusters
min: -100
max: 100
default: 0.0
SC_CA_THRUSTER${i}_AZ:
CA_THRUSTER${i}_AZ:
description:
short: Axis of thruster ${i} thrust vector, Z body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_sc_thrusters
num_instances: *max_num_thrusters
min: -100
max: 100
default: -1.0
SC_CA_THRUSTER${i}_CT:
CA_THRUSTER${i}_CT:
description:
short: Thrust coefficient of rotor ${i}
long: |
@@ -310,7 +119,7 @@ parameters:
type: float
decimal: 1
increment: 1
num_instances: *max_num_sc_thrusters
num_instances: *max_num_thrusters
min: 0
max: 100
default: 6.5
@@ -318,226 +127,61 @@ parameters:
# Mixer
mixer:
actuator_types:
motor:
functions: 'Motor'
actuator_testing_values:
min: 0
max: 1
default_is_nan: true
per_item_parameters:
- name: 'SC_CA_R_REV'
label: 'Bidirectional'
show_as: 'bitset'
index_offset: 0
advanced: true
- name: 'CA_R${i}_SLEW'
label: 'Slew Rate'
index_offset: 0
advanced: true
thruster:
functions: 'Thruster'
actuator_testing_values:
min: 0
max: 1
default_is_nan: true
servo:
functions: 'Servo'
actuator_testing_values:
min: -1
max: 1
default: 0
per_item_parameters:
- name: 'SC_CA_SV${i}_SLEW'
label: 'Slew Rate'
index_offset: 0
advanced: true
DEFAULT:
actuator_testing_values:
min: -1
max: 1
default: -1
rules:
- select_identifier: 'servo-type' # restrict torque based on servo type
apply_identifiers: ['servo-torque-roll', 'servo-torque-pitch', 'servo-torque-yaw', 'servo-scale-flap', 'servo-scale-spoiler']
items:
# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
# By default the scale is set to 1/N, where N is the amount of actuators with an effect on
# the corresponding axis. With that we are using all the available servo moving range.
0: # Not set
- { 'disabled': True, 'default': 0.0 } # roll
- { 'disabled': True, 'default': 0.0 } # pitch
- { 'disabled': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
1: # Left Aileron
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
2: # Right Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
3: # Elevator
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
4: # Rudder
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
5: # Left Elevon
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
6: # Right Elevon
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
7: # Left V Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
8: # Right V Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
9: # Left Flap
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
10: # Right Flap
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
11: # Airbrake
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
12: # Custom
- { 'hidden': False, 'default': 0.0 } # roll
- { 'hidden': False, 'default': 0.0 } # pitch
- { 'hidden': False, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
13: # Left A Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
14: # Right A Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
15: # Single Channel Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
16: # Steering Wheel
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
17: # Left Spoiler
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # spoiler
18: # Right Spoiler
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # spoiler
- select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters
apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter']
items:
# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
# No rules for control surfaces on tailsitter beside elevons.
5: # Left Elevon (Tailsitter --> wing vertical, so affects pitch and yaw)
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
6: # Right Elevon (Tailsitter -->wing vertical, so affects pitch and yaw)
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
config:
param: CA_AIRFRAME
types:
13: # Spacecraft 2D
type: 'spacecraft_2d'
14: # Spacecraft 2D
title: 'Spacecraft 2D'
actuators:
- actuator_type: 'thruster'
count: 'SC_CA_THRUSTER_CNT' # count would be too long for 16 max size
count: 'CA_THRUSTER_CNT' # count would be too long for 16 max size
per_item_parameters:
standard:
position: [ 'SC_CA_THRUSTER${i}_PX', 'SC_CA_THRUSTER${i}_PY', 'SC_CA_THRUSTER${i}_PZ' ]
position: [ 'CA_THRUSTER${i}_PX', 'CA_THRUSTER${i}_PY', 'CA_THRUSTER${i}_PZ' ]
extra:
- name: 'SC_CA_THRUSTER${i}_AX'
- name: 'CA_THRUSTER${i}_AX'
label: 'Axis X'
function: 'axisx'
advanced: true
- name: 'SC_CA_THRUSTER${i}_AY'
- name: 'CA_THRUSTER${i}_AY'
label: 'Axis Y'
function: 'axisy'
advanced: true
- name: 'SC_CA_THRUSTER${i}_AZ'
- name: 'CA_THRUSTER${i}_AZ'
label: 'Axis Z'
function: 'axisz'
advanced: true
14: # Sapcecraft 3D
15: # Sapcecraft 3D
title: 'Spacecraft 3D'
actuators:
- actuator_type: 'thruster'
count: 'SC_CA_THRUSTER_CNT'
count: 'CA_THRUSTER_CNT'
per_item_parameters:
standard:
position: [ 'SC_CA_THRUSTER${i}_PX', 'SC_CA_THRUSTER${i}_PY', 'SC_CA_THRUSTER${i}_PZ' ]
position: [ 'CA_THRUSTER${i}_PX', 'CA_THRUSTER${i}_PY', 'CA_THRUSTER${i}_PZ' ]
extra:
- name: 'SC_CA_THRUSTER${i}_AX'
- name: 'CA_THRUSTER${i}_AX'
label: 'Axis X'
function: 'axisx'
advanced: true
- name: 'SC_CA_THRUSTER${i}_AY'
- name: 'CA_THRUSTER${i}_AY'
label: 'Axis Y'
function: 'axisy'
advanced: true
- name: 'SC_CA_THRUSTER${i}_AZ'
- name: 'CA_THRUSTER${i}_AZ'
label: 'Axis Z'
function: 'axisz'
advanced: true