1c4325db6d
RpmControl: split into cpp source file fixing includes
2025-01-14 14:55:34 +01:00
2772ae7e0e
RpmControl: maximum rpm outliers are now caught by RpmCapture
2025-01-14 14:55:34 +01:00
ddd410e9d8
RpmControl: remove status message because it by now only contains redundant information
2025-01-14 14:55:34 +01:00
4050cedfaf
RpmControl: call local message instance after message name following the convention
2025-01-14 14:55:34 +01:00
cd0e04f8b0
RpmControl: name current timestamp now following the convention
2025-01-14 14:55:34 +01:00
ee67e4bb28
RpmControl: class clean up
2025-01-14 14:55:34 +01:00
940fe45ba7
ControlAllocator: introduce helicopter rotor rpm controller
2025-01-14 14:55:34 +01:00
f5c05f6d01
Take 2: Cleanup circular dependencies ActuatorEffectiveness
2025-01-13 09:29:42 +01:00
208d37e703
Remove circular dependency if control allocation ( #24195 )
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... and actuator effectiveness
2025-01-10 16:58:15 +01:00
3943025f32
Centralize yaw margin ( #23982 )
2024-11-20 09:52:36 +01:00
0e65679c9e
Mecanum rover: add dedicated module for mecanum rovers ( #23708 )
2024-09-25 09:35:41 +02:00
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
33d99a13e8
differential: restructure and update module ( #23430 )
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* differential: rename module
* differential: restructure and update module
2024-08-07 09:53:37 +02:00
f2bca92221
Fix duplicate newlines at the end of files
2024-07-19 14:33:36 +02:00
a8617cf681
Fix float and uint64_t comparison ( #23199 )
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fix: ControlAllocator float and int comparison bug
There was an incorrect comparison between a float variable `dt` and a `uint64_t` value representing 5 milliseconds (`5_ms`). As a result, `do_update` could never become true even if the last torque setpoint was received more than 5 milliseconds before.
To solve this, the `5_ms` value has been converted to seconds (0.005f) for the comparison with `dt`.
2024-06-03 17:48:38 -08:00
f40ede6087
Control Allocation Sequential Desaturation unit tests ( #22612 )
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* [control_allocation] add unit tests for ControlAllocationSequentialDesaturation
* complete first 2 unit tests
* add yaw test
* add more unit tests
* improve comments
* format
* address review comments
* submodule update
* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* remove float suffix for logical integers, add missing float suffixes for logical float zeros, and make YAW_MOTORS an int
---------
Co-authored-by: Master Chief <master-chief@the-void.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-01-26 15:17:54 +01:00
3d5c2ef6c4
[control_allocation] small function comment typo fix ( #22607 )
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Co-authored-by: Master Chief <master-chief@the-void.com >
2024-01-08 11:12:06 +01:00
3de5c609a4
Differential Rover: PR fixes
2023-12-21 16:27:53 +01:00
3df71d1837
Differential Rover: Differential drive module & library
2023-12-21 16:27:53 +01:00
14c4257a59
ActuatorEffectivenessRotors: Use modern parameter interface for rotor count
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This lead to a compiler warning with arm-none-eabi-gcc 12+
about the variable count potentially being a dangling pointer.
2023-12-05 12:06:56 -05:00
de9074558b
Roboclaw: Updated Airframe and fixed left and right mapping error
2023-11-28 16:30:17 +01:00
8ea04b0f8f
ActuatorEffectivenessHelicopterCoaxial: fix copy paste error in saturation logic
2023-09-28 08:55:06 +02:00
8a2d2fb1cd
HelicopterCoaxial: only publish unallocated thrust in the saturation case
2023-09-28 08:55:06 +02:00
169a0f580d
HelicopterCoaxial: correct constraining for minimum 2 swash plate servos
2023-09-28 08:55:06 +02:00
20f2df4410
HelicopterCoaxial: handle yaw saturation
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This had to be done for the integrators to work at all.
2023-09-28 08:55:06 +02:00
cf40d95ef0
HelicopterCoaxial: adjust for coaxial allocation
2023-09-28 08:55:06 +02:00
b3b373e074
control_allocator: add coaxial helicopter effectiveness
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It's now just a copy of the helicopter such that changes get well
visible in the history.
2023-09-28 08:55:06 +02:00
b56e7a036c
control_allocator: allow for only 2 swash plate servos
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This is required to support fixed pitch propeller helicopters that have
no collective but only cyclic pitch with two degrees of freedom and
hence only two servos.
The amount of thrust in the body z axis is then controlled using the
motor speed which makes particularly sense on coaxial helicopters
that need to control yaw with changing motor speeds already.
2023-09-28 08:55:06 +02:00
35b32e8cb0
ActuatorEffectivenessHelicopter: spacing
2023-09-28 08:55:06 +02:00
2be687a84c
Helicopter: add collective pitch offset to Actuator UI parameters
2023-09-28 08:55:06 +02:00
99e2acf89c
ActuatorEffectivenessHelicopter: explicitly handle unsaturated case
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This became necessary otherwise
the allocation reports saturation all
the time and the rate integrator doesn't work.
2023-09-28 08:53:35 +02:00
fb30b4d288
control_allocator: Clarify position description
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I'm assuming that the rotor positions are given relative to the center
of gravity (CG).
Signed-off-by: Julian Oes <julian@oes.ch >
2023-09-04 08:02:15 +02:00
f1b5b4f524
TiltrotorEffectiveness: limit thrust axis tilt to z effectiveness scaling ( #21990 )
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During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-08-25 14:45:14 +02:00
410206aa5d
Control Allocation: fixes in yaw saturation detection for vehicles with tilt-for-yaw ( #21994 )
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* ActuatorEffectiveness: base yaw saturation on tilt actuator limits (VTOL Tiltrotor)
* ActuatorEffectiveness: add custom yaw saturation for MC Tilt
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-08-24 13:58:58 +02:00
0eb276f273
Tiltrotor: move spin up tilt to control allocation ( #21991 )
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EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-08-24 13:57:24 +02:00
03365658d5
VehicleControlMode: add flag_control_allocation_enabled
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Allows (external) modes to directly publish actuator_{motors,servos}.
2023-08-21 20:53:51 -04:00
eaad11bb74
ActuatorEffectiveness: add comment for 2% magic number to stop motors
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-08-17 13:28:09 +02:00
e776aca9ef
UUV: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
6b7aed3d44
Boats: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
95a35c972d
Rovers: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
0be6069b83
TiltrotorVTOL: allow stopping front tilted motors in fast forward flight
2023-07-10 18:58:37 +02:00
66b451e61f
TailsitterVTOL: allow explicitly stop forward motor with zero thrust
2023-07-10 18:58:37 +02:00
5568afbb12
StandardVTOL: explicitly stop forward motor with zero thrust
2023-07-10 18:58:37 +02:00
6b7b34a71a
FixedWing: explicitly stop forward motor with zero thrust
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This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
2023-07-10 18:58:37 +02:00
2a077181d9
ActuatorEffectiveness: add function to delectively stop motors with zero thrust
2023-07-10 18:58:37 +02:00
a36c922fc0
ActuatorEffectivenessHelicopterTest: adapt to new constructor
2023-07-03 16:21:27 +02:00
77d6c722a7
helicopter: add tail servo support
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as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
2023-07-03 16:21:27 +02:00
989d9243b7
fix control_allocator: correct PRINT_MODULE_USAGE_NAME
2023-04-13 07:46:09 +02:00
937d27f8ee
Helicopter: add offset for yaw compensation based on collective pitch
2023-03-24 07:16:36 +01:00
b16f16598b
VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics
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MC/FW rate controller and auto tuner: remove actuator_controls
AirshipAttControl: remove actuator_controls
MulticopterLandDetector: remove actuator_controls
mavlink streams vfr_hud and high_latency2: remove actuator_controls
RoverPositionController: remove actuator_controls
UUVAttitudeController: remove actuator_controls
battery: use length of thrust_setpoint for throttle compensation
VehicleMagnetometer: use length of thrust_setpoint for throttle compensation
Signed-off-by: Silvan Fuhrer
2023-03-16 11:55:45 +01:00
Matthias Grob