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13 Commits

Author SHA1 Message Date
Silvan Fuhrer 6db92b4011 ControlAllocation: remove actuator trim value from actuator_sp to calculate allocated control 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-04 07:51:25 +02:00
Alessandro Simovic 20ccfbb719 control_allocator: remove failed motor from effectiveness 
- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
  recomputing the scale / normalization
 2022-05-12 07:58:56 +02:00
Silvan Fuhrer 0950bb81ab ControlAllocation: update normalization scale only if matrix updated is forced 
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
Beat Küng 5259877b1b control_allocator: update matrix normalization 
- only normalize rpy for MC matrices
- for thrust use the 3D vector, so it works for FW and tilt rotors as well

This keeps MC unchanged.
 2021-12-24 20:06:13 -05:00
Beat Küng 4c80adfaf1 control_allocator: implement trim + slew rate limits configuration 2021-12-24 20:06:13 -05:00
Beat Küng 70e46a194f control_allocator: major refactoring & additions 
- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
 2021-12-24 20:06:13 -05:00
Beat Küng 2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng b29d9db7f1 control_allocator: limit status publication rate to 200Hz 
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
 2021-11-23 12:40:22 -05:00
Beat Küng a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
bresch d47f9f155a MC mixer: replace multirotor_motor_limits by control_allocator_status 
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix

MCRateControl: use control_allocator_status to get saturation info
 2021-11-09 10:35:10 -05:00
Beat Küng 3dad79d8f5 control_allocator: inline one-line setters & getters 2021-01-18 11:25:37 -05:00
Beat Küng 0e66b0876b control_allocator: change SequentialDesaturation to existing MC mixer 
And limit the operations to the number of configured outputs.

Only using the number of configured actuators reduces CPU load by ~2% on
F7 @1khz.
 2021-01-18 11:25:37 -05:00
Julien Lecoeur 343cf5603e initial control allocation support 
- control allocation module with multirotor, VTOL standard, and tiltrotor support
 - angular_velocity_controller
 - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
 2021-01-18 11:25:37 -05:00