ed3a115c8f
control_allocator: add status publication rate limitation comment
2021-12-24 20:06:13 -05:00
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
9c767ff1ee
control_allocator: make effective source name a class member
2021-12-24 20:06:13 -05:00
2809dd8944
control_allocator: remove min/max/scale params
2021-11-23 12:40:22 -05:00
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
bcba3dfe52
control_allocator,angular_velocity_controller: run on rate_ctrl wq
2021-11-23 12:40:22 -05:00
a0e43bca96
msg: remove unused vehicle_actuator_setpoint topic
2021-11-23 12:40:22 -05:00
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
f09b34007e
CA: reload CA matrix to newly created CA class properly
...
Also remove the dependency of ActuatorEffectivenessMultirotor
to param update uORB topic; the CA module
sends a "force" parameter when needed
2021-09-11 15:07:49 -04:00
cf5917d188
control_allocator: restructure param update
...
recompute effectiveness on param change
clear update at the end
2021-09-11 15:07:49 -04:00
164511a7b5
control_allocator: avoid vector copies and sqrt()
2021-01-18 11:25:37 -05:00
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
308f614735
refactor control_allocator: directly get the effectiveness matrix when updated
...
Reduces stack + RAM usage
2021-01-18 11:25:37 -05:00
38782029ad
fix control_allocator: set _last_run at the correct place
2021-01-18 11:25:37 -05:00
0e86ab47f6
fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory
2021-01-18 11:25:37 -05:00
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
Beat Küng