bresch
cf5917d188
control_allocator: restructure param update
...
recompute effectiveness on param change
clear update at the end
2021-09-11 15:07:49 -04:00
Beat Küng
164511a7b5
control_allocator: avoid vector copies and sqrt()
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
Beat Küng
308f614735
refactor control_allocator: directly get the effectiveness matrix when updated
...
Reduces stack + RAM usage
2021-01-18 11:25:37 -05:00
Beat Küng
38782029ad
fix control_allocator: set _last_run at the correct place
2021-01-18 11:25:37 -05:00
Beat Küng
0e86ab47f6
fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory
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
