diff --git a/src/lib/control_allocation/CMakeLists.txt b/src/lib/control_allocation/CMakeLists.txt index d65bd11fa0..82f9bf37e2 100644 --- a/src/lib/control_allocation/CMakeLists.txt +++ b/src/lib/control_allocation/CMakeLists.txt @@ -34,6 +34,8 @@ px4_add_library(ControlAllocation ControlAllocation.cpp ControlAllocation.hpp + ControlAllocationMetric.cpp + ControlAllocationMetric.hpp ControlAllocationPseudoInverse.cpp ControlAllocationPseudoInverse.hpp ControlAllocationSequentialDesaturation.cpp @@ -44,4 +46,5 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_link_libraries(ControlAllocation PRIVATE mathlib) px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation) +px4_add_unit_gtest(SRC ControlAllocationMetric.cpp LINKLIBS ControlAllocation) # px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness) diff --git a/src/lib/control_allocation/ControlAllocationMetric.cpp b/src/lib/control_allocation/ControlAllocationMetric.cpp new file mode 100644 index 0000000000..880e1563ae --- /dev/null +++ b/src/lib/control_allocation/ControlAllocationMetric.cpp @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * 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. + * + ****************************************************************************/ + +/** + * @file ControlAllocationMetric.hpp + * + * Control allocation with metric units. + * + * @author Pedro Roque + */ + +#include "ControlAllocationMetric.hpp" +#include + +void +ControlAllocationMetric::setEffectivenessMatrix( + const matrix::Matrix &effectiveness, + const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators, + bool update_normalization_scale) +{ + ControlAllocation::setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, num_actuators, + update_normalization_scale); + _mix_update_needed = true; +} + +void +ControlAllocationMetric::updatePseudoInverse() +{ + if (_mix_update_needed) { + matrix::geninv(_effectiveness, _mix); + _mix_update_needed = false; + } +} + +void +ControlAllocationMetric::allocate() +{ + //Compute new gains if needed + updatePseudoInverse(); + + _prev_actuator_sp = _actuator_sp; + + // Allocate + _actuator_sp = _actuator_trim + _mix * (_control_sp - _control_trim); +} diff --git a/src/lib/control_allocation/ControlAllocationMetric.hpp b/src/lib/control_allocation/ControlAllocationMetric.hpp new file mode 100644 index 0000000000..19d82e1bf0 --- /dev/null +++ b/src/lib/control_allocation/ControlAllocationMetric.hpp @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * 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. + * + ****************************************************************************/ + +/** + * @file ControlAllocationMetric.hpp + * + * Control allocation with metric units. + * + * The metric allocation takes into account maximum thrust and torque + * provided by the actuators to calculate setpoints that allow to allocate + * specific body force and torque, keeping the scale of the target setpoints. + * No normalization is done in this case. Note that, similarly to the PseudoInverse + * allocation, saturation is handled by clipping. + * + * @author Pedro Roque + */ + +#pragma once + +#include "ControlAllocation.hpp" + +class ControlAllocationMetric: public ControlAllocation +{ +public: + ControlAllocationMetric() = default; + virtual ~ControlAllocationMetric() = default; + + void allocate() override; + void setEffectivenessMatrix(const matrix::Matrix &effectiveness, + const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators, + bool update_normalization_scale) override; + +protected: + matrix::Matrix _mix; + + bool _mix_update_needed{false}; + + /** + * Recalculate pseudo inverse if required. + * + */ + void updatePseudoInverse(); + +}; diff --git a/src/lib/control_allocation/ControlAllocationMetricTest.cpp b/src/lib/control_allocation/ControlAllocationMetricTest.cpp new file mode 100644 index 0000000000..6c487710dc --- /dev/null +++ b/src/lib/control_allocation/ControlAllocationMetricTest.cpp @@ -0,0 +1,215 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * 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. + * + ****************************************************************************/ + +/** + * @file ControlAllocationTest.cpp + * + * Tests for Control Allocation metric class + * + * @author Pedro Roque + */ + +#include +#include +#include <../ActuatorEffectiveness/ActuatorEffectivenessThrusters.hpp> +#include + +using namespace matrix; + +namespace +{ + // Creates a 2D spacecraft with 8 thrusters (one in each corner of the axis, NED Frame): + // 1 <--> 0 + // x + // | + // ^6 v7 +----y ^4 v5 + // + // + // 3 <--> 2 + ActuatorEffectivenessThrusters::Geometry make_spacecraft_x_geometry() + { + ActuatorEffectivenessThrusters::Geometry geometry = {}; + geometry.thrusters[0].position(0) = 1.0f; + geometry.thrusters[0].position(1) = 0.0f; + geometry.thrusters[0].position(2) = 0.0f; + geometry.thrusters[0].axis(0) = 0.0f; + geometry.thrusters[0].axis(1) = 1.0f; + geometry.thrusters[0].axis(2) = 0.0f; + geometry.thrusters[0].thrust_coef = 2.0f; + + geometry.thrusters[1].position(0) = 1.0f; + geometry.thrusters[1].position(1) = 0.0f; + geometry.thrusters[1].position(2) = 0.0f; + geometry.thrusters[1].axis(0) = 0.0f; + geometry.thrusters[1].axis(1) = -1.0f; + geometry.thrusters[1].axis(2) = 0.0f; + geometry.thrusters[1].thrust_coef = 2.0f; + + geometry.thrusters[2].position(0) = -1.0f; + geometry.thrusters[2].position(1) = 0.0f; + geometry.thrusters[2].position(2) = 0.0f; + geometry.thrusters[2].axis(0) = 0.0f; + geometry.thrusters[2].axis(1) = 1.0f; + geometry.thrusters[2].axis(2) = 0.0f; + geometry.thrusters[2].thrust_coef = 2.0f; + + geometry.thrusters[3].position(0) = -1.0f; + geometry.thrusters[3].position(1) = 0.0f; + geometry.thrusters[3].position(2) = 0.0f; + geometry.thrusters[3].axis(0) = 0.0f; + geometry.thrusters[3].axis(1) = -1.0f; + geometry.thrusters[3].axis(2) = 0.0f; + geometry.thrusters[3].thrust_coef = 2.0f; + + geometry.thrusters[4].position(0) = 0.0f; + geometry.thrusters[4].position(1) = 1.0f; + geometry.thrusters[4].position(2) = 0.0f; + geometry.thrusters[4].axis(0) = 1.0f; + geometry.thrusters[4].axis(1) = 0.0f; + geometry.thrusters[4].axis(2) = 0.0f; + geometry.thrusters[4].thrust_coef = 2.0f; + + geometry.thrusters[5].position(0) = 0.0f; + geometry.thrusters[5].position(1) = 1.0f; + geometry.thrusters[5].position(2) = 0.0f; + geometry.thrusters[5].axis(0) = -1.0f; + geometry.thrusters[5].axis(1) = 0.0f; + geometry.thrusters[5].axis(2) = 0.0f; + geometry.thrusters[5].thrust_coef = 2.0f; + + geometry.thrusters[6].position(0) = 0.0f; + geometry.thrusters[6].position(1) = -1.0f; + geometry.thrusters[6].position(2) = 0.0f; + geometry.thrusters[6].axis(0) = 1.0f; + geometry.thrusters[6].axis(1) = 0.0f; + geometry.thrusters[6].axis(2) = 0.0f; + geometry.thrusters[6].thrust_coef = 2.0f; + + geometry.thrusters[7].position(0) = 0.0f; + geometry.thrusters[7].position(1) = -1.0f; + geometry.thrusters[7].position(2) = 0.0f; + geometry.thrusters[7].axis(0) = -1.0f; + geometry.thrusters[7].axis(1) = 0.0f; + geometry.thrusters[7].axis(2) = 0.0f; + geometry.thrusters[7].thrust_coef = 2.0f; + + geometry.num_thrusters = 8; + + return geometry; + } + + ActuatorEffectiveness::EffectivenessMatrix make_spacecraft_x_effectiveness() + { + ActuatorEffectiveness::EffectivenessMatrix effectiveness; + effectiveness.setZero(); + const auto geometry = make_spacecraft_x_geometry(); + ActuatorEffectivenessThrusters::computeEffectivenessMatrix(geometry, effectiveness); + PX4_INFO("Effectiveness matrix (transposed): "); + effectiveness.T().print(); + return effectiveness; + } + + void setup_spacecraft_allocator(ControlAllocationMetric &allocator) + { + const auto effectiveness = make_spacecraft_x_effectiveness(); + matrix::Vector actuator_trim; + matrix::Vector linearization_point; + constexpr bool UPDATE_NORMALIZATION_SCALE{false}; + allocator.setEffectivenessMatrix( + effectiveness, + actuator_trim, + linearization_point, + ActuatorEffectiveness::NUM_ACTUATORS, + UPDATE_NORMALIZATION_SCALE + ); + } +} // namespace + + +TEST(ControlAllocationMetricTest, AllZeroCase) +{ + ControlAllocationMetric method; + + matrix::Vector control_sp; + matrix::Vector control_allocated; + matrix::Vector control_allocated_expected; + matrix::Matrix effectiveness; + matrix::Vector actuator_sp; + matrix::Vector actuator_trim; + matrix::Vector linearization_point; + matrix::Vector actuator_sp_expected; + + method.setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, 16, false); + method.setControlSetpoint(control_sp); + method.allocate(); + method.clipActuatorSetpoint(); + actuator_sp = method.getActuatorSetpoint(); + control_allocated_expected = method.getAllocatedControl(); + + EXPECT_EQ(actuator_sp, actuator_sp_expected); + EXPECT_EQ(control_allocated, control_allocated_expected); +} + + +TEST(ControlAllocationMetricTest, MetricOutputProportional) +{ + ControlAllocationMetric allocator; + setup_spacecraft_allocator(allocator); + matrix::Vector control_sp; + + control_sp(ControlAllocation::ControlAxis::ROLL) = 0.f; + control_sp(ControlAllocation::ControlAxis::PITCH) = 0.f; + control_sp(ControlAllocation::ControlAxis::YAW) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_X) = 0.5f; // newton + control_sp(ControlAllocation::ControlAxis::THRUST_Y) = 0.f; + control_sp(ControlAllocation::ControlAxis::THRUST_Z) = 0.f; + allocator.setControlSetpoint(control_sp); + + allocator.allocate(); + + const auto &actuator_sp = allocator.getActuatorSetpoint(); + + // print each actuator setpoint + actuator_sp.print(); + + // ensure that outputs match expected + EXPECT_NEAR(actuator_sp(0), 0.0f, 1e-4); + EXPECT_NEAR(actuator_sp(1), 0.0f, 1e-4); + EXPECT_NEAR(actuator_sp(2), 0.0f, 1e-4); + EXPECT_NEAR(actuator_sp(3), 0.0f, 1e-4); + EXPECT_NEAR(actuator_sp(4), 0.06250f, 1e-4); + EXPECT_NEAR(actuator_sp(5), -0.06250f, 1e-4); + EXPECT_NEAR(actuator_sp(6), 0.06250f, 1e-4); + EXPECT_NEAR(actuator_sp(7), -0.06250f, 1e-4); + +}