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control_allocator: Fixes for standard VTOL frames

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- Add 'actuatorType()' to ActuatorEffectiveness
- Map outputs to uORB topics by type
- Fix incorrect number of outputs in StandardVTOL
- Fix 1050_standard_vtol_ctrlalloc airframe file
This commit is contained in:
JacobCrabill
2021-10-27 18:30:31 -07:00
parent 81590f137e
commit c1ca5b50a4
7 changed files with 93 additions and 11 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1050_standard_vtol_ctrlalloc
+38 -4
View File
@@ -6,7 +6,13 @@
#
. ${R}etc/init.d/rc.vtol_defaults
. ${R}etc/init.d/rc.ctrlalloc
param set-default SYS_CTRL_ALLOC 1
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
@@ -49,7 +55,9 @@ param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2
param set-default CA_AIRFRAME 1
param set-default CA_METHOD 1
# VTOL Motors
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
@@ -59,9 +67,11 @@ param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
# Throttle
param set-default CA_ACT4_MIN 0.0
param set-default CA_ACT4_MAX 1.0
# Ailerons/Ruddervator
param set-default CA_ACT5_MIN -1.0
param set-default CA_ACT5_MAX 1.0
param set-default CA_ACT6_MIN -1.0
@@ -69,8 +79,32 @@ param set-default CA_ACT6_MAX 1.0
param set-default CA_ACT7_MIN -1.0
param set-default CA_ACT7_MAX 1.0
param set-default CA_MC_R0_PX 0.177
param set-default CA_MC_R0_PY 0.177
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.177
param set-default CA_MC_R1_PY -0.177
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.177
param set-default CA_MC_R2_PY -0.177
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.177
param set-default CA_MC_R3_PY 0.177
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105 # Setting pusher to Motor5 for now
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
set MAV_TYPE 22
#set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
#set MIXER custom
set MIXER direct
set MIXER skip
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+16
View File
@@ -15,6 +15,22 @@ ekf2 start &
# End Estimator group selection #
###############################################################################
if param compare SYS_CTRL_ALLOC 1
then
#
# Start Control Allocator
#
control_allocator start
#
# Disable hover thrust estimator and prearming
# These features are currently incompatible with control allocation
#
# TODO: fix
#
param set MPC_USE_HTE 0
fi
airspeed_selector start
vtol_att_control start