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CA: rename normalize_rpy to normalize_as_planar_mc

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To make clear that this normalization method is optimized
for planar multicopters.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-02-15 16:41:04 +01:00
parent b9aa8818a4
commit fd9d0211aa
11 changed files with 14 additions and 14 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
+1 -1
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@@ -153,7 +153,7 @@ public:
/**
* Query if the roll, pitch and yaw columns of the mixing matrix should be normalized
*/
virtual void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const
virtual void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const
{
for (int i = 0; i < MAX_NUM_MATRICES; ++i) {
normalize[i] = false;
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
+1 -1
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@@ -50,7 +50,7 @@ public:
allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
}
void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
{
normalize[0] = true;
}
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
+1 -1
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@@ -49,7 +49,7 @@ public:
allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
}
void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
{
normalize[0] = true;
}
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+1 -1
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@@ -90,7 +90,7 @@ public:
allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
}
void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
{
normalize[0] = true;
}
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
+1 -1
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@@ -67,7 +67,7 @@ public:
allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
}
void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
{
normalize[0] = true;
normalize[1] = false;
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
+1 -1
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@@ -64,7 +64,7 @@ public:
allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
}
void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
{
normalize[0] = true;
normalize[1] = false;
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+1 -1
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@@ -70,7 +70,7 @@ public:
allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
}
void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
{
normalize[0] = true;
normalize[1] = false;
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
+1 -1
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@@ -49,7 +49,7 @@ public:
allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
}
void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
{
normalize[0] = true;
}
src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+2 -2
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@@ -226,7 +226,7 @@ public:
int numConfiguredActuators() const { return _num_actuators; }
void setNormalizeRPY(bool normalize_rpy) { _normalize_rpy = normalize_rpy; }
void setNormalizeAsPlanarMC(bool normalize_as_mc) { _normalize_matrix_as_planar_mc = normalize_as_mc; }
protected:
friend class ControlAllocator; // for _actuator_sp
@@ -242,6 +242,6 @@ protected:
matrix::Vector<float, NUM_AXES> _control_sp; ///< Control setpoint
matrix::Vector<float, NUM_AXES> _control_trim; ///< Control at trim actuator values
int _num_actuators{0};
bool _normalize_rpy{false}; ///< if true, normalize roll, pitch and yaw columns
bool _normalize_matrix_as_planar_mc{false}; ///< if true, normalize roll, pitch and yaw columns optimized for planar MC
bool _had_actuator_failure{false};
};
src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
+1 -1
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@@ -73,7 +73,7 @@ void
ControlAllocationPseudoInverse::updateControlAllocationMatrixScale()
{
// Same scale on roll and pitch
if (_normalize_rpy) {
if (_normalize_matrix_as_planar_mc) {
int num_non_zero_roll_torque = 0;
int num_non_zero_pitch_torque = 0;
src/modules/control_allocator/ControlAllocator.cpp
+3 -3
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@@ -168,8 +168,8 @@ ControlAllocator::update_allocation_method(bool force)
AllocationMethod desired_methods[ActuatorEffectiveness::MAX_NUM_MATRICES];
_actuator_effectiveness->getDesiredAllocationMethod(desired_methods);
bool normalize_rpy[ActuatorEffectiveness::MAX_NUM_MATRICES];
_actuator_effectiveness->getNormalizeRPY(normalize_rpy);
bool normalize_as_planar_mc[ActuatorEffectiveness::MAX_NUM_MATRICES];
_actuator_effectiveness->getNormalizeAsPlanarMC(normalize_as_planar_mc);
for (int i = 0; i < _num_control_allocation; ++i) {
AllocationMethod method = configured_method;
@@ -197,7 +197,7 @@ ControlAllocator::update_allocation_method(bool force)
_num_control_allocation = 0;
} else {
_control_allocation[i]->setNormalizeRPY(normalize_rpy[i]);
_control_allocation[i]->setNormalizeAsPlanarMC(normalize_as_planar_mc[i]);
_control_allocation[i]->setActuatorSetpoint(actuator_sp[i]);
}
}