fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity
39,771 Commits 852 Branches 161 Tags
Commit Graph

11 Commits

Author SHA1 Message Date
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
4c80adfaf1 control_allocator: implement trim + slew rate limits configuration 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
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
38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
Beat Küng
212ec821b1 control_allocator: set unused actuators to trim instead of min 2021-01-18 11:25:37 -05:00
Beat Küng
3606f86518 control_allocator: ensure unused outputs are initialized to min 
Mostly important in cases where the ouputs would change (e.g. param change)
 2021-01-18 11:25:37 -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