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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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feat: add metric allocation
This commit is contained in:
Pedro-Roque
parent
216762d402
commit
dbe022df20
@ -34,6 +34,8 @@
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px4_add_library(ControlAllocation
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ControlAllocation.cpp
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ControlAllocation.hpp
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ControlAllocationMetric.cpp
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ControlAllocationMetric.hpp
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ControlAllocationPseudoInverse.cpp
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ControlAllocationPseudoInverse.hpp
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ControlAllocationSequentialDesaturation.cpp
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@ -44,4 +46,5 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(ControlAllocation PRIVATE mathlib)
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px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation)
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px4_add_unit_gtest(SRC ControlAllocationMetric.cpp LINKLIBS ControlAllocation)
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# px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)
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75
src/lib/control_allocation/ControlAllocationMetric.cpp
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75
src/lib/control_allocation/ControlAllocationMetric.cpp
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@ -0,0 +1,75 @@
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/****************************************************************************
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*
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* Copyright (c) 2024 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
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ControlAllocationMetric.hpp
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*
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* Control allocation with metric units.
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*
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* @author Pedro Roque <padr@kth.se>
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*/
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#include "ControlAllocationMetric.hpp"
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#include <px4_platform_common/log.h>
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void
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ControlAllocationMetric::setEffectivenessMatrix(
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const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
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const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators,
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bool update_normalization_scale)
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{
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ControlAllocation::setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, num_actuators,
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update_normalization_scale);
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_mix_update_needed = true;
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}
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void
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ControlAllocationMetric::updatePseudoInverse()
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{
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if (_mix_update_needed) {
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matrix::geninv(_effectiveness, _mix);
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_mix_update_needed = false;
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}
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}
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void
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ControlAllocationMetric::allocate()
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{
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//Compute new gains if needed
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updatePseudoInverse();
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_prev_actuator_sp = _actuator_sp;
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// Allocate
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_actuator_sp = _actuator_trim + _mix * (_control_sp - _control_trim);
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}
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74
src/lib/control_allocation/ControlAllocationMetric.hpp
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74
src/lib/control_allocation/ControlAllocationMetric.hpp
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@ -0,0 +1,74 @@
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/****************************************************************************
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*
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* Copyright (c) 2024 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
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ControlAllocationMetric.hpp
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*
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* Control allocation with metric units.
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*
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* The metric allocation takes into account maximum thrust and torque
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* provided by the actuators to calculate setpoints that allow to allocate
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* specific body force and torque, keeping the scale of the target setpoints.
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* No normalization is done in this case. Note that, similarly to the PseudoInverse
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* allocation, saturation is handled by clipping.
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*
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* @author Pedro Roque <padr@kth.se>
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*/
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#pragma once
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#include "ControlAllocation.hpp"
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class ControlAllocationMetric: public ControlAllocation
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{
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public:
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ControlAllocationMetric() = default;
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virtual ~ControlAllocationMetric() = default;
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void allocate() override;
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void setEffectivenessMatrix(const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness,
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const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators,
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bool update_normalization_scale) override;
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protected:
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matrix::Matrix<float, NUM_ACTUATORS, NUM_AXES> _mix;
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bool _mix_update_needed{false};
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/**
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* Recalculate pseudo inverse if required.
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*
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*/
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void updatePseudoInverse();
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};
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215
src/lib/control_allocation/ControlAllocationMetricTest.cpp
Normal file
215
src/lib/control_allocation/ControlAllocationMetricTest.cpp
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@ -0,0 +1,215 @@
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/****************************************************************************
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*
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* Copyright (C) 2024 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
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ControlAllocationTest.cpp
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*
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* Tests for Control Allocation metric class
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*
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* @author Pedro Roque <padr@kth.se>
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*/
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#include <gtest/gtest.h>
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#include <ControlAllocationMetric.hpp>
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#include <../ActuatorEffectiveness/ActuatorEffectivenessThrusters.hpp>
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#include <iostream>
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using namespace matrix;
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namespace
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{
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// Creates a 2D spacecraft with 8 thrusters (one in each corner of the axis, NED Frame):
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// 1 <--> 0
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// x
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// |
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// ^6 v7 +----y ^4 v5
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//
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//
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// 3 <--> 2
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ActuatorEffectivenessThrusters::Geometry make_spacecraft_x_geometry()
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{
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ActuatorEffectivenessThrusters::Geometry geometry = {};
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geometry.thrusters[0].position(0) = 1.0f;
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geometry.thrusters[0].position(1) = 0.0f;
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geometry.thrusters[0].position(2) = 0.0f;
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geometry.thrusters[0].axis(0) = 0.0f;
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geometry.thrusters[0].axis(1) = 1.0f;
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geometry.thrusters[0].axis(2) = 0.0f;
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geometry.thrusters[0].thrust_coef = 2.0f;
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geometry.thrusters[1].position(0) = 1.0f;
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geometry.thrusters[1].position(1) = 0.0f;
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geometry.thrusters[1].position(2) = 0.0f;
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geometry.thrusters[1].axis(0) = 0.0f;
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geometry.thrusters[1].axis(1) = -1.0f;
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geometry.thrusters[1].axis(2) = 0.0f;
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geometry.thrusters[1].thrust_coef = 2.0f;
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geometry.thrusters[2].position(0) = -1.0f;
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geometry.thrusters[2].position(1) = 0.0f;
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geometry.thrusters[2].position(2) = 0.0f;
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geometry.thrusters[2].axis(0) = 0.0f;
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geometry.thrusters[2].axis(1) = 1.0f;
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geometry.thrusters[2].axis(2) = 0.0f;
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geometry.thrusters[2].thrust_coef = 2.0f;
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geometry.thrusters[3].position(0) = -1.0f;
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geometry.thrusters[3].position(1) = 0.0f;
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geometry.thrusters[3].position(2) = 0.0f;
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geometry.thrusters[3].axis(0) = 0.0f;
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geometry.thrusters[3].axis(1) = -1.0f;
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geometry.thrusters[3].axis(2) = 0.0f;
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geometry.thrusters[3].thrust_coef = 2.0f;
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geometry.thrusters[4].position(0) = 0.0f;
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geometry.thrusters[4].position(1) = 1.0f;
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geometry.thrusters[4].position(2) = 0.0f;
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geometry.thrusters[4].axis(0) = 1.0f;
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geometry.thrusters[4].axis(1) = 0.0f;
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geometry.thrusters[4].axis(2) = 0.0f;
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geometry.thrusters[4].thrust_coef = 2.0f;
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geometry.thrusters[5].position(0) = 0.0f;
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geometry.thrusters[5].position(1) = 1.0f;
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geometry.thrusters[5].position(2) = 0.0f;
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geometry.thrusters[5].axis(0) = -1.0f;
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geometry.thrusters[5].axis(1) = 0.0f;
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geometry.thrusters[5].axis(2) = 0.0f;
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geometry.thrusters[5].thrust_coef = 2.0f;
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geometry.thrusters[6].position(0) = 0.0f;
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geometry.thrusters[6].position(1) = -1.0f;
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geometry.thrusters[6].position(2) = 0.0f;
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geometry.thrusters[6].axis(0) = 1.0f;
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geometry.thrusters[6].axis(1) = 0.0f;
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geometry.thrusters[6].axis(2) = 0.0f;
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geometry.thrusters[6].thrust_coef = 2.0f;
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geometry.thrusters[7].position(0) = 0.0f;
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geometry.thrusters[7].position(1) = -1.0f;
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geometry.thrusters[7].position(2) = 0.0f;
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geometry.thrusters[7].axis(0) = -1.0f;
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geometry.thrusters[7].axis(1) = 0.0f;
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geometry.thrusters[7].axis(2) = 0.0f;
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geometry.thrusters[7].thrust_coef = 2.0f;
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geometry.num_thrusters = 8;
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return geometry;
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}
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ActuatorEffectiveness::EffectivenessMatrix make_spacecraft_x_effectiveness()
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{
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ActuatorEffectiveness::EffectivenessMatrix effectiveness;
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effectiveness.setZero();
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const auto geometry = make_spacecraft_x_geometry();
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ActuatorEffectivenessThrusters::computeEffectivenessMatrix(geometry, effectiveness);
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PX4_INFO("Effectiveness matrix (transposed): ");
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effectiveness.T().print();
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return effectiveness;
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}
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void setup_spacecraft_allocator(ControlAllocationMetric &allocator)
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{
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const auto effectiveness = make_spacecraft_x_effectiveness();
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matrix::Vector<float, ActuatorEffectiveness::NUM_ACTUATORS> actuator_trim;
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matrix::Vector<float, ActuatorEffectiveness::NUM_ACTUATORS> linearization_point;
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constexpr bool UPDATE_NORMALIZATION_SCALE{false};
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allocator.setEffectivenessMatrix(
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effectiveness,
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actuator_trim,
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linearization_point,
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ActuatorEffectiveness::NUM_ACTUATORS,
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UPDATE_NORMALIZATION_SCALE
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);
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}
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} // namespace
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TEST(ControlAllocationMetricTest, AllZeroCase)
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{
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ControlAllocationMetric method;
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matrix::Vector<float, 6> control_sp;
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matrix::Vector<float, 6> control_allocated;
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matrix::Vector<float, 6> control_allocated_expected;
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matrix::Matrix<float, 6, 16> effectiveness;
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matrix::Vector<float, 16> actuator_sp;
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matrix::Vector<float, 16> actuator_trim;
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matrix::Vector<float, 16> linearization_point;
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matrix::Vector<float, 16> actuator_sp_expected;
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method.setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, 16, false);
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method.setControlSetpoint(control_sp);
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method.allocate();
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method.clipActuatorSetpoint();
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actuator_sp = method.getActuatorSetpoint();
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control_allocated_expected = method.getAllocatedControl();
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EXPECT_EQ(actuator_sp, actuator_sp_expected);
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EXPECT_EQ(control_allocated, control_allocated_expected);
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}
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TEST(ControlAllocationMetricTest, MetricOutputProportional)
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{
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ControlAllocationMetric allocator;
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setup_spacecraft_allocator(allocator);
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matrix::Vector<float, ActuatorEffectiveness::NUM_AXES> control_sp;
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control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f;
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control_sp(ControlAllocation::ControlAxis::PITCH) = 0.f;
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control_sp(ControlAllocation::ControlAxis::YAW) = 0.f;
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control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.5f; // newton
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control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f;
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control_sp(ControlAllocation::ControlAxis::THRUST_Z) = 0.f;
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allocator.setControlSetpoint(control_sp);
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allocator.allocate();
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const auto &actuator_sp = allocator.getActuatorSetpoint();
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// print each actuator setpoint
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actuator_sp.print();
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// ensure that outputs match expected
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EXPECT_NEAR(actuator_sp(0), 0.0f, 1e-4);
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EXPECT_NEAR(actuator_sp(1), 0.0f, 1e-4);
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EXPECT_NEAR(actuator_sp(2), 0.0f, 1e-4);
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EXPECT_NEAR(actuator_sp(3), 0.0f, 1e-4);
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EXPECT_NEAR(actuator_sp(4), 0.06250f, 1e-4);
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EXPECT_NEAR(actuator_sp(5), -0.06250f, 1e-4);
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EXPECT_NEAR(actuator_sp(6), 0.06250f, 1e-4);
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EXPECT_NEAR(actuator_sp(7), -0.06250f, 1e-4);
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}
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