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control_allocator: add coaxial helicopter effectiveness
It's now just a copy of the helicopter such that changes get well visible in the history.
This commit is contained in:
Matthias Grob
+252
@@ -0,0 +1,252 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
|
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "ActuatorEffectivenessHelicopterCoaxial.hpp"
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#include <lib/mathlib/mathlib.h>
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using namespace matrix;
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using namespace time_literals;
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ActuatorEffectivenessHelicopterCoaxial::ActuatorEffectivenessHelicopterCoaxial(ModuleParams *parent)
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: ModuleParams(parent)
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{
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for (int i = 0; i < NUM_SWASH_PLATE_SERVOS_MAX; ++i) {
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char buffer[17];
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snprintf(buffer, sizeof(buffer), "CA_SP0_ANG%u", i);
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_param_handles.swash_plate_servos[i].angle = param_find(buffer);
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snprintf(buffer, sizeof(buffer), "CA_SP0_ARM_L%u", i);
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_param_handles.swash_plate_servos[i].arm_length = param_find(buffer);
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snprintf(buffer, sizeof(buffer), "CA_SV_CS%u_TRIM", i);
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_param_handles.swash_plate_servos[i].trim = param_find(buffer);
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}
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_param_handles.num_swash_plate_servos = param_find("CA_SP0_COUNT");
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for (int i = 0; i < NUM_CURVE_POINTS; ++i) {
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char buffer[17];
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snprintf(buffer, sizeof(buffer), "CA_HELI_THR_C%u", i);
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_param_handles.throttle_curve[i] = param_find(buffer);
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snprintf(buffer, sizeof(buffer), "CA_HELI_PITCH_C%u", i);
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_param_handles.pitch_curve[i] = param_find(buffer);
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}
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_param_handles.yaw_collective_pitch_scale = param_find("CA_HELI_YAW_CP_S");
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_param_handles.yaw_collective_pitch_offset = param_find("CA_HELI_YAW_CP_O");
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_param_handles.yaw_throttle_scale = param_find("CA_HELI_YAW_TH_S");
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_param_handles.yaw_ccw = param_find("CA_HELI_YAW_CCW");
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_param_handles.spoolup_time = param_find("COM_SPOOLUP_TIME");
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updateParams();
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}
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void ActuatorEffectivenessHelicopterCoaxial::updateParams()
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{
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ModuleParams::updateParams();
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int32_t count = 0;
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if (param_get(_param_handles.num_swash_plate_servos, &count) != 0) {
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PX4_ERR("param_get failed");
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return;
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}
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_geometry.num_swash_plate_servos = math::constrain((int)count, 3, NUM_SWASH_PLATE_SERVOS_MAX);
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for (int i = 0; i < _geometry.num_swash_plate_servos; ++i) {
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float angle_deg{};
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param_get(_param_handles.swash_plate_servos[i].angle, &angle_deg);
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_geometry.swash_plate_servos[i].angle = math::radians(angle_deg);
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param_get(_param_handles.swash_plate_servos[i].arm_length, &_geometry.swash_plate_servos[i].arm_length);
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param_get(_param_handles.swash_plate_servos[i].trim, &_geometry.swash_plate_servos[i].trim);
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}
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for (int i = 0; i < NUM_CURVE_POINTS; ++i) {
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param_get(_param_handles.throttle_curve[i], &_geometry.throttle_curve[i]);
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param_get(_param_handles.pitch_curve[i], &_geometry.pitch_curve[i]);
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}
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param_get(_param_handles.yaw_collective_pitch_scale, &_geometry.yaw_collective_pitch_scale);
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param_get(_param_handles.yaw_collective_pitch_offset, &_geometry.yaw_collective_pitch_offset);
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param_get(_param_handles.yaw_throttle_scale, &_geometry.yaw_throttle_scale);
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param_get(_param_handles.spoolup_time, &_geometry.spoolup_time);
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int32_t yaw_ccw = 0;
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param_get(_param_handles.yaw_ccw, &yaw_ccw);
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_geometry.yaw_sign = (yaw_ccw == 1) ? -1.f : 1.f;
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}
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bool ActuatorEffectivenessHelicopterCoaxial::getEffectivenessMatrix(Configuration &configuration,
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EffectivenessUpdateReason external_update)
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{
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if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
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return false;
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}
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// As the allocation is non-linear, we use updateSetpoint() instead of the matrix
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configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{});
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// Tail (yaw) motor
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configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{});
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// N swash plate servos
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_first_swash_plate_servo_index = configuration.num_actuators_matrix[0];
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for (int i = 0; i < _geometry.num_swash_plate_servos; ++i) {
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configuration.addActuator(ActuatorType::SERVOS, Vector3f{}, Vector3f{});
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configuration.trim[configuration.selected_matrix](i) = _geometry.swash_plate_servos[i].trim;
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}
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return true;
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}
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void ActuatorEffectivenessHelicopterCoaxial::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
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{
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_saturation_flags = {};
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// throttle/collective pitch curve
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const float throttle = math::interpolateN(-control_sp(ControlAxis::THRUST_Z),
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_geometry.throttle_curve) * throttleSpoolupProgress();
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const float collective_pitch = math::interpolateN(-control_sp(ControlAxis::THRUST_Z), _geometry.pitch_curve);
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// actuator mapping
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actuator_sp(0) = mainMotorEnaged() ? throttle : NAN;
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actuator_sp(1) = control_sp(ControlAxis::YAW) * _geometry.yaw_sign
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+ fabsf(collective_pitch - _geometry.yaw_collective_pitch_offset) * _geometry.yaw_collective_pitch_scale
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+ throttle * _geometry.yaw_throttle_scale;
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// Saturation check for yaw
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if (actuator_sp(1) < actuator_min(1)) {
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setSaturationFlag(_geometry.yaw_sign, _saturation_flags.yaw_neg, _saturation_flags.yaw_pos);
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} else if (actuator_sp(1) > actuator_max(1)) {
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setSaturationFlag(_geometry.yaw_sign, _saturation_flags.yaw_pos, _saturation_flags.yaw_neg);
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}
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for (int i = 0; i < _geometry.num_swash_plate_servos; i++) {
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float roll_coeff = sinf(_geometry.swash_plate_servos[i].angle) * _geometry.swash_plate_servos[i].arm_length;
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float pitch_coeff = cosf(_geometry.swash_plate_servos[i].angle) * _geometry.swash_plate_servos[i].arm_length;
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actuator_sp(_first_swash_plate_servo_index + i) = collective_pitch
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+ control_sp(ControlAxis::PITCH) * pitch_coeff
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- control_sp(ControlAxis::ROLL) * roll_coeff
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+ _geometry.swash_plate_servos[i].trim;
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// Saturation check for roll & pitch
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if (actuator_sp(_first_swash_plate_servo_index + i) < actuator_min(_first_swash_plate_servo_index + i)) {
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setSaturationFlag(roll_coeff, _saturation_flags.roll_pos, _saturation_flags.roll_neg);
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setSaturationFlag(pitch_coeff, _saturation_flags.pitch_neg, _saturation_flags.pitch_pos);
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} else if (actuator_sp(_first_swash_plate_servo_index + i) > actuator_max(_first_swash_plate_servo_index + i)) {
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setSaturationFlag(roll_coeff, _saturation_flags.roll_neg, _saturation_flags.roll_pos);
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setSaturationFlag(pitch_coeff, _saturation_flags.pitch_pos, _saturation_flags.pitch_neg);
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}
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}
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}
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bool ActuatorEffectivenessHelicopterCoaxial::mainMotorEnaged()
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{
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manual_control_switches_s manual_control_switches;
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if (_manual_control_switches_sub.update(&manual_control_switches)) {
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_main_motor_engaged = manual_control_switches.engage_main_motor_switch == manual_control_switches_s::SWITCH_POS_NONE
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|| manual_control_switches.engage_main_motor_switch == manual_control_switches_s::SWITCH_POS_ON;
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}
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return _main_motor_engaged;
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}
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float ActuatorEffectivenessHelicopterCoaxial::throttleSpoolupProgress()
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{
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vehicle_status_s vehicle_status;
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if (_vehicle_status_sub.update(&vehicle_status)) {
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_armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED;
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_armed_time = vehicle_status.armed_time;
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}
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const float time_since_arming = (hrt_absolute_time() - _armed_time) / 1e6f;
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const float spoolup_progress = time_since_arming / _geometry.spoolup_time;
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if (_armed && spoolup_progress < 1.f) {
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return spoolup_progress;
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}
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return 1.f;
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}
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void ActuatorEffectivenessHelicopterCoaxial::setSaturationFlag(float coeff, bool &positive_flag, bool &negative_flag)
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{
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if (coeff > 0.f) {
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// A positive change in given axis will increase saturation
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positive_flag = true;
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} else if (coeff < 0.f) {
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// A negative change in given axis will increase saturation
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negative_flag = true;
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}
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}
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void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_index, control_allocator_status_s &status)
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{
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// Note: the values '-1', '1' and '0' are just to indicate a negative,
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// positive or no saturation to the rate controller. The actual magnitude is not used.
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if (_saturation_flags.roll_pos) {
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status.unallocated_torque[0] = 1.f;
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} else if (_saturation_flags.roll_neg) {
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status.unallocated_torque[0] = -1.f;
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}
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if (_saturation_flags.pitch_pos) {
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status.unallocated_torque[1] = 1.f;
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} else if (_saturation_flags.pitch_neg) {
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status.unallocated_torque[1] = -1.f;
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}
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if (_saturation_flags.yaw_pos) {
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status.unallocated_torque[2] = 1.f;
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} else if (_saturation_flags.yaw_neg) {
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status.unallocated_torque[2] = -1.f;
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}
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if (_saturation_flags.thrust_pos) {
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status.unallocated_thrust[2] = 1.f;
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} else if (_saturation_flags.thrust_neg) {
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status.unallocated_thrust[2] = -1.f;
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}
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}
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+132
@@ -0,0 +1,132 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
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*
|
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
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****************************************************************************/
|
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#pragma once
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#include "ActuatorEffectiveness.hpp"
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#include <px4_platform_common/module_params.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/manual_control_switches.h>
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class ActuatorEffectivenessHelicopterCoaxial : public ModuleParams, public ActuatorEffectiveness
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{
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public:
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static constexpr int NUM_SWASH_PLATE_SERVOS_MAX = 4;
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static constexpr int NUM_CURVE_POINTS = 5;
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struct SwashPlateGeometry {
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float angle;
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float arm_length;
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float trim;
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};
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struct Geometry {
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SwashPlateGeometry swash_plate_servos[NUM_SWASH_PLATE_SERVOS_MAX];
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int num_swash_plate_servos{0};
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float throttle_curve[NUM_CURVE_POINTS];
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float pitch_curve[NUM_CURVE_POINTS];
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float yaw_collective_pitch_scale;
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float yaw_collective_pitch_offset;
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float yaw_throttle_scale;
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float yaw_sign;
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float spoolup_time;
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};
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ActuatorEffectivenessHelicopterCoaxial(ModuleParams *parent);
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virtual ~ActuatorEffectivenessHelicopterCoaxial() = default;
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bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
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const char *name() const override { return "Helicopter"; }
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const Geometry &geometry() const { return _geometry; }
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void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
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ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
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void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
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private:
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float throttleSpoolupProgress();
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bool mainMotorEnaged();
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void updateParams() override;
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struct SaturationFlags {
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bool roll_pos;
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bool roll_neg;
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bool pitch_pos;
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bool pitch_neg;
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bool yaw_pos;
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bool yaw_neg;
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bool thrust_pos;
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bool thrust_neg;
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};
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static void setSaturationFlag(float coeff, bool &positive_flag, bool &negative_flag);
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struct ParamHandlesSwashPlate {
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param_t angle;
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param_t arm_length;
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param_t trim;
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};
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struct ParamHandles {
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ParamHandlesSwashPlate swash_plate_servos[NUM_SWASH_PLATE_SERVOS_MAX];
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param_t num_swash_plate_servos;
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param_t throttle_curve[NUM_CURVE_POINTS];
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param_t pitch_curve[NUM_CURVE_POINTS];
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param_t yaw_collective_pitch_scale;
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param_t yaw_collective_pitch_offset;
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param_t yaw_throttle_scale;
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param_t yaw_ccw;
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param_t spoolup_time;
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};
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ParamHandles _param_handles{};
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Geometry _geometry{};
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int _first_swash_plate_servo_index{};
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SaturationFlags _saturation_flags;
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// Throttle spoolup state
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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bool _armed{false};
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uint64_t _armed_time{0};
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|
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uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
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bool _main_motor_engaged{true};
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};
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@@ -44,6 +44,8 @@ px4_add_library(ActuatorEffectiveness
|
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ActuatorEffectivenessFixedWing.hpp
|
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ActuatorEffectivenessHelicopter.cpp
|
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ActuatorEffectivenessHelicopter.hpp
|
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ActuatorEffectivenessHelicopterCoaxial.cpp
|
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ActuatorEffectivenessHelicopterCoaxial.hpp
|
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ActuatorEffectivenessMCTilt.cpp
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ActuatorEffectivenessMCTilt.hpp
|
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ActuatorEffectivenessMultirotor.cpp
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|
||||
@@ -266,6 +266,10 @@ ControlAllocator::update_effectiveness_source()
|
||||
tmp = new ActuatorEffectivenessHelicopter(this, ActuatorType::SERVOS);
|
||||
break;
|
||||
|
||||
case EffectivenessSource::HELICOPTER_COAXIAL:
|
||||
tmp = new ActuatorEffectivenessHelicopterCoaxial(this);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_ERR("Unknown airframe");
|
||||
break;
|
||||
|
||||
@@ -53,6 +53,7 @@
|
||||
#include <ActuatorEffectivenessCustom.hpp>
|
||||
#include <ActuatorEffectivenessUUV.hpp>
|
||||
#include <ActuatorEffectivenessHelicopter.hpp>
|
||||
#include <ActuatorEffectivenessHelicopterCoaxial.hpp>
|
||||
|
||||
#include <ControlAllocation.hpp>
|
||||
#include <ControlAllocationPseudoInverse.hpp>
|
||||
@@ -157,6 +158,7 @@ private:
|
||||
CUSTOM = 9,
|
||||
HELICOPTER_TAIL_ESC = 10,
|
||||
HELICOPTER_TAIL_SERVO = 11,
|
||||
HELICOPTER_COAXIAL = 12,
|
||||
};
|
||||
|
||||
enum class FailureMode {
|
||||
|
||||
@@ -29,6 +29,7 @@ parameters:
|
||||
9: Custom
|
||||
10: Helicopter (tail ESC)
|
||||
11: Helicopter (tail Servo)
|
||||
12: Helicopter (Coaxial)
|
||||
default: 0
|
||||
|
||||
CA_METHOD:
|
||||
@@ -1119,3 +1120,23 @@ mixer:
|
||||
name: CA_HELI_YAW_CCW
|
||||
- label: 'Throttle spoolup time'
|
||||
name: COM_SPOOLUP_TIME
|
||||
|
||||
12: # Helicopter (Coaxial)
|
||||
actuators:
|
||||
- actuator_type: 'motor'
|
||||
count: 2
|
||||
item_label_prefix: ['Clockwise Rotor', 'Counter-clockwise Rotor']
|
||||
- actuator_type: 'servo'
|
||||
group_label: 'Swash plate servos'
|
||||
count: 'CA_SP0_COUNT'
|
||||
per_item_parameters:
|
||||
extra:
|
||||
- name: 'CA_SP0_ANG${i}'
|
||||
label: 'Angle'
|
||||
- name: 'CA_SP0_ARM_L${i}'
|
||||
label: 'Arm Length (relative)'
|
||||
- name: 'CA_SV_CS${i}_TRIM'
|
||||
label: 'Trim'
|
||||
parameters:
|
||||
- label: 'Throttle spoolup time'
|
||||
name: COM_SPOOLUP_TIME
|
||||
|
||||
Reference in New Issue
Block a user