fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 01:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

CA: refactor logic for matrix updating

Browse Source 
-pass flag EffectivenessUpdateReason into effectiveness, indicating if there was an external
update or not. Reasons for external updates are:
  -config changes (parameter)
  -motor failure detected or certain redundant motors are switched off to save energy

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-02-01 10:36:54 +01:00
committed by Beat Küng
parent 36d440f895
commit df0e402c44
28 changed files with 209 additions and 92 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+6 -5
View File
@@ -42,15 +42,16 @@ ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL(ModuleParam
}
bool
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configuration, bool force)
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configuration,
EffectivenessUpdateReason external_update)
{
if (!force) {
if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
return false;
}
// MC motors
configuration.selected_matrix = 0;
_mc_rotors.getEffectivenessMatrix(configuration, true);
const bool mc_rotors_added_successfully = _mc_rotors.addActuators(configuration);
_mc_motors_mask = (1u << _mc_rotors.geometry().num_rotors) - 1;
// Pusher/Puller
@@ -63,9 +64,9 @@ ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configu
// Control Surfaces
configuration.selected_matrix = 1;
_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
_control_surfaces.getEffectivenessMatrix(configuration, true);
const bool surfaces_added_successfully = _control_surfaces.addActuators(configuration);
return true;
return (mc_rotors_added_successfully && surfaces_added_successfully);
}
void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,