diff --git a/src/lib/control_allocation/control_allocation/ControlAllocationMetric.cpp b/src/lib/control_allocation/control_allocation/ControlAllocationMetric.cpp new file mode 100644 index 0000000000..888e1337fe --- /dev/null +++ b/src/lib/control_allocation/control_allocation/ControlAllocationMetric.cpp @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * 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 + +/* + * ControlAllocationMetric + * + * Note that the effectiveness matrix is in metric units and that + * 'update_normalization_scale' is ignored. + */ +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, + 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); +} diff --git a/src/lib/control_allocation/control_allocation/ControlAllocationMetric.hpp b/src/lib/control_allocation/control_allocation/ControlAllocationMetric.hpp new file mode 100644 index 0000000000..19d82e1bf0 --- /dev/null +++ b/src/lib/control_allocation/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/control_allocation/ControlAllocationMetricTest.cpp b/src/lib/control_allocation/control_allocation/ControlAllocationMetricTest.cpp new file mode 100644 index 0000000000..cd9fa2ff93 --- /dev/null +++ b/src/lib/control_allocation/control_allocation/ControlAllocationMetricTest.cpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * 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 "ControlAllocationMetric.hpp" +#include + +using namespace matrix; + +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); +}