 Daniel Agar
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3e5e5ab1d5
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control_allocator and angular_velocity_controller throttle parameter_update subscription
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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c36340d29a
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ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix
Just to be on the safe side.
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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212ec821b1
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control_allocator: set unused actuators to trim instead of min
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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3606f86518
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control_allocator: ensure unused outputs are initialized to min
Mostly important in cases where the ouputs would change (e.g. param change)
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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3dad79d8f5
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control_allocator: inline one-line setters & getters
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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164511a7b5
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control_allocator: avoid vector copies and sqrt()
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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0e66b0876b
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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.
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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308f614735
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refactor control_allocator: directly get the effectiveness matrix when updated
Reduces stack + RAM usage
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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38782029ad
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fix control_allocator: set _last_run at the correct place
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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0e86ab47f6
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fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory
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2021-01-18 11:25:37 -05:00 |
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Beat Küng
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066464c4e8
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control_allocator: remove unused _task_start
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2021-01-18 11:25:37 -05:00 |
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Julien Lecoeur
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343cf5603e
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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>
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2021-01-18 11:25:37 -05:00 |
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