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
This adds the option to limit the rate of change (slew rate) of an output that's mixed by a simple mixer.
To enable it, a positive number has to be added at the end (6th number) of the output scaler line of the mixer,
specifying the min rise time of this output.
E.g. O: 10000 10000 0 -10000 10000 20000 for a rise time of 2s, resp. a max slew rate of 0.5s^-1.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The problem with printing the exception was that starting with
Python 3.6 the ImportError is yet another (sub) exception called
ModuleNotFoundError which can't be printed as a string and then triggers
another exception:
```
Traceback (most recent call last):
File "/home/julianoes/src/Firmware/Tools/serial/generate_config.py", line 11, in <module>
import jinja2
ModuleNotFoundError: No module named 'jinja2'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/julianoes/src/Firmware/Tools/serial/generate_config.py", line 13, in <module>
print("Failed to import jinja2: " + e)
TypeError: must be str, not ModuleNotFoundError
```
As per @bkueng's suggestion the easiest is to cast the exception to str
and that way prevent the second exception.
Channels belonging to a certain timer were not all grouped together.
This is required by the .first_channel_index and .last_channel_index data
members.
We introduce a new mixer geometry to solve the problem.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
Fixes a potential buffer overflow if an MC/helicopter mixer is used that
exceeds the number of physical pins.
This is not a useful/flyable configuration, but the system still should
not crash.
The documentation of the thrust model parameter `THR_MDL_FAC` did not
mention both thrust and "PWM" being relative values. Also the use of the
term PWM could be misleading, since the model is applicable to CAN ESCs
as well.
This commit rephrases the user documentation string and a few source
code comments, but no logic changes are made.
ClosesPX4/Firmware#13105
This is more accurate, because if we use -1000 as lower bound, a very large
yaw command can reduce thrust more than needed.
The difference can be seen in the following example
(with roll/pitch airmode):
p_dot_sp = -1.0 # roll acceleration
q_dot_sp = 0.9 # pitch acceleration
r_dot_sp = -0.9 # yaw acceleration
To run:
cd src/lib/mixer
make tests
This will validate the C++ implementation by taking the python
implementation as ground-truth. It runs through various actuator control
command values for all airmode variations and several mixer types.
The python script also allows to prototype new mixer algorithms.
It is not integrated into the existing build system, because it's easier
to use that way, with less dependencies, and faster testing workflow.
It could however be a bit more integrated.
Reference: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
Provides a more generic desaturation algorithm, making it easier to
handle the different mixer strategies.
python reference implementation:
https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
The behavior for non-airmode and roll/pitch airmode should be the
same as before.
CPU load is slightly higher for the non-airmode case (+0.5%), for airmode
it is the same.
bresch