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81
src/lib/control_allocation/control_allocation/ControlAllocationMetric.cpp Normal file
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/****************************************************************************
*
* 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 <padr@kth.se>
*/
#include "ControlAllocationMetric.hpp"
#include <px4_platform_common/log.h>
/*
* ControlAllocationMetric
*
* Note that the effectiveness matrix is in metric units and that
* 'update_normalization_scale' is ignored.
*/
void
ControlAllocationMetric::setEffectivenessMatrix(
const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &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,
false);
_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);
}

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src/lib/control_allocation/control_allocation/ControlAllocationMetric.hpp Normal file
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/****************************************************************************
*
* 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 <padr@kth.se>
*/
#pragma once
#include "ControlAllocation.hpp"
class ControlAllocationMetric: public ControlAllocation
{
public:
ControlAllocationMetric() = default;
virtual ~ControlAllocationMetric() = default;
void allocate() override;
void setEffectivenessMatrix(const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness,
const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators,
bool update_normalization_scale) override;
protected:
matrix::Matrix<float, NUM_ACTUATORS, NUM_AXES> _mix;
bool _mix_update_needed{false};
/**
* Recalculate pseudo inverse if required.
*
*/
void updatePseudoInverse();
};

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src/lib/control_allocation/control_allocation/ControlAllocationMetricTest.cpp Normal file
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/****************************************************************************
*
* 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 <padr@kth.se>
*/
#include <gtest/gtest.h>
#include "ControlAllocationMetric.hpp"
#include <iostream>
using namespace matrix;
TEST(ControlAllocationMetricTest, AllZeroCase)
{
ControlAllocationMetric method;
matrix::Vector<float, 6> control_sp;
matrix::Vector<float, 6> control_allocated;
matrix::Vector<float, 6> control_allocated_expected;
matrix::Matrix<float, 6, 16> effectiveness;
matrix::Vector<float, 16> actuator_sp;
matrix::Vector<float, 16> actuator_trim;
matrix::Vector<float, 16> linearization_point;
matrix::Vector<float, 16> 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);
}