Matthias Grob
b824f33ae9
battery: publish measured values also when battery not connected
2021-07-01 14:24:38 +02:00
Daniel Agar
3e5e5ab1d5
control_allocator and angular_velocity_controller throttle parameter_update subscription
2021-01-18 11:25:37 -05:00
Beat Küng
c36340d29a
ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix
...
Just to be on the safe side.
2021-01-18 11:25:37 -05:00
Beat Küng
212ec821b1
control_allocator: set unused actuators to trim instead of min
2021-01-18 11:25:37 -05:00
Beat Küng
3606f86518
control_allocator: ensure unused outputs are initialized to min
...
Mostly important in cases where the ouputs would change (e.g. param change)
2021-01-18 11:25:37 -05:00
Beat Küng
3dad79d8f5
control_allocator: inline one-line setters & getters
2021-01-18 11:25:37 -05:00
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
Beat Küng
066464c4e8
control_allocator: remove unused _task_start
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
