Beat Küng
923a90d78b
control_allocator: set default control surface type to (not set)
...
Before it was set to left aileron, but the torque values were all 0.
2022-08-12 09:43:12 +02:00
Beat Küng
0ab61aee2e
control_allocator: show motor axis for MC (as advanced)
2022-06-04 07:40:29 +02:00
Alessandro Simovic
20ccfbb719
control_allocator: remove failed motor from effectiveness
...
- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
recomputing the scale / normalization
2022-05-12 07:58:56 +02:00
Beat Küng
5cdb6fbd8e
control_allocator: add helicopter mixer
...
Same logic as the existing mixer.
Untested.
2022-05-10 08:57:39 +02:00
Beat Küng
32402f31df
control_allocator: increase max num motors to 12
2022-05-10 08:57:39 +02:00
Beat Küng
76d8d8cae6
control_allocator: generic motor configuration for standard vtols
...
This adds the pusher/puller to the standard motors and makes the axis
configurable.
2022-02-25 08:30:58 +01:00
Beat Küng
b2dc9ee710
control_allocator: add title & help url to geometry UI
2022-02-25 08:30:58 +01:00
Beat Küng
66cbbf9f2e
control_allocator: use 'bidirectional' to clarify reversible motors
2022-01-14 12:18:29 -05:00
Silvan Fuhrer
1ad66e606b
ControlAllocation: introduce convention for control surface deflection sign
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- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-12-24 20:06:13 -05:00
Silvan Fuhrer
426aa76a59
CA/VTOL: change description of VT_ELEV_MC_LOCK as it applies to not just elevons
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-12-24 20:06:13 -05:00
Silvan Fuhrer
18008b2de7
CA module.yaml: add motor direction function also to UI for Tailsitter an Tiltrotor
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-12-24 20:06:13 -05:00
Beat Küng
8c782b7cd9
control_allocator: add Custom + MC with tilts effectiveness
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The param group is changed to Geometry, as this reflects the naming in the
QGC UI.
2021-12-24 20:06:13 -05:00
Beat Küng
4d38742371
control_allocator: show VT_ELEV_MC_LOCK for vtol mixers in config ui
2021-12-24 20:06:13 -05:00
Silvan Fuhrer
07306c4be3
control_allocator: add support for Tailsitter VTOL
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-12-24 20:06:13 -05:00
Beat Küng
e04b4a8dbf
control_allocator: add 6DOF configuration
2021-12-24 20:06:13 -05:00
Beat Küng
4c80adfaf1
control_allocator: implement trim + slew rate limits configuration
2021-12-24 20:06:13 -05:00
Beat Küng
8d9e2a28c4
control_allocator: add fixed-wing actuator effectiveness
2021-12-24 20:06:13 -05:00
Beat Küng
4d2a403afa
control_allocator: add rover actuator effectiveness
...
This can be generalized later
2021-12-24 20:06:13 -05:00
Beat Küng
70e46a194f
control_allocator: major refactoring & additions
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- 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
Beat Küng
2809dd8944
control_allocator: remove min/max/scale params
2021-11-23 12:40:22 -05:00
Beat Küng
4346ac4a37
control_allocator: add mixer metadata
2021-11-23 12:40:22 -05:00
Beat Küng
f99c2617ad
control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults
2021-11-23 12:40:22 -05:00
