3870992bac
Fix spelling mistake ( #24623 )
2025-03-27 09:46:02 -06:00
35d96d57f9
control_allocator: Added linearization feature for 4 servo swash plates to prevent binding ( #23961 )
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* control_allocator: Added linearization feature for heli swashplates to help prevent servo binding
* Apply suggestions from code review
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* update description of CA_LIN_SERVO parameter
* update variable name
* add missing semi-colon
* fix variable referenced before assignment
* add missing indentation
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* removed param unnecessary param
* removed whitespace
* remove CA_LIN_SERVO and enable feature if CA_MAX_SERVO_THROW > 0 plus Update param description.
* remove CA_MAX_SVO_THROW from actuators tab to avoid confusion during standard swashplate setup.
* added comment and fixed spelling mistake
* fix spelling mistake
* fix formatting
* reduce CA_MAX_SVO_THROW short description length to stop test failure
* ActuatorEffectivenessHelicopter: clarfification suggestions for servo linearization feature
* remove NAN check.
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-02-24 12:17:11 +00:00
e12c3c00a4
control_allocator: param update avoid temporary
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- this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive
2025-02-17 14:35:15 -05:00
e7e76e2e21
Spacecraft build and bare control allocator ( #24221 )
2025-02-06 23:54:24 -05:00
165f644580
control_allocator: fix typo and use [0,1] instead of [0%, 100%] in slew rate description
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Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
2025-01-27 08:43:11 +01:00
c1cab2d4e0
control_allocator: add unit for slew rate and reword description
2025-01-27 08:43:11 +01:00
e01fef755a
Control allocation: make heli rpm control an optional build flag disabled by default
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to save flash.
The rpm capture dirver is also disabled on default releases
2025-01-15 14:35:35 +01:00
974446c0e8
Make control allocation and actuator effectiveness a non-module-specific library ( #24196 )
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* Remove more circular dependencies with ActuatorEffectiveness
* Separate vehicle specific actuator effectiveness
Keep actuator effectivenss in control allocator
* Remove test dependency for now
* Group library directories
Fix
* Change directory names
* Rebase fix
2025-01-15 10:12:29 +01:00
bc92008885
RpmControl: Better consider the case where there's no rpm measurement (anymore)
2025-01-14 14:55:34 +01:00
2506bd3b5d
RpmControl: simplify the entire control logic
2025-01-14 14:55:34 +01:00
1c4325db6d
RpmControl: split into cpp source file fixing includes
2025-01-14 14:55:34 +01:00
2772ae7e0e
RpmControl: maximum rpm outliers are now caught by RpmCapture
2025-01-14 14:55:34 +01:00
ddd410e9d8
RpmControl: remove status message because it by now only contains redundant information
2025-01-14 14:55:34 +01:00
4050cedfaf
RpmControl: call local message instance after message name following the convention
2025-01-14 14:55:34 +01:00
cd0e04f8b0
RpmControl: name current timestamp now following the convention
2025-01-14 14:55:34 +01:00
ee67e4bb28
RpmControl: class clean up
2025-01-14 14:55:34 +01:00
940fe45ba7
ControlAllocator: introduce helicopter rotor rpm controller
2025-01-14 14:55:34 +01:00
f5c05f6d01
Take 2: Cleanup circular dependencies ActuatorEffectiveness
2025-01-13 09:29:42 +01:00
208d37e703
Remove circular dependency if control allocation ( #24195 )
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... and actuator effectiveness
2025-01-10 16:58:15 +01:00
3943025f32
Centralize yaw margin ( #23982 )
2024-11-20 09:52:36 +01:00
0e65679c9e
Mecanum rover: add dedicated module for mecanum rovers ( #23708 )
2024-09-25 09:35:41 +02:00
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
33d99a13e8
differential: restructure and update module ( #23430 )
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* differential: rename module
* differential: restructure and update module
2024-08-07 09:53:37 +02:00
f2bca92221
Fix duplicate newlines at the end of files
2024-07-19 14:33:36 +02:00
a8617cf681
Fix float and uint64_t comparison ( #23199 )
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fix: ControlAllocator float and int comparison bug
There was an incorrect comparison between a float variable `dt` and a `uint64_t` value representing 5 milliseconds (`5_ms`). As a result, `do_update` could never become true even if the last torque setpoint was received more than 5 milliseconds before.
To solve this, the `5_ms` value has been converted to seconds (0.005f) for the comparison with `dt`.
2024-06-03 17:48:38 -08:00
f40ede6087
Control Allocation Sequential Desaturation unit tests ( #22612 )
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* [control_allocation] add unit tests for ControlAllocationSequentialDesaturation
* complete first 2 unit tests
* add yaw test
* add more unit tests
* improve comments
* format
* address review comments
* submodule update
* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* remove float suffix for logical integers, add missing float suffixes for logical float zeros, and make YAW_MOTORS an int
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Co-authored-by: Master Chief <master-chief@the-void.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-01-26 15:17:54 +01:00
3d5c2ef6c4
[control_allocation] small function comment typo fix ( #22607 )
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Co-authored-by: Master Chief <master-chief@the-void.com >
2024-01-08 11:12:06 +01:00
3de5c609a4
Differential Rover: PR fixes
2023-12-21 16:27:53 +01:00
3df71d1837
Differential Rover: Differential drive module & library
2023-12-21 16:27:53 +01:00
14c4257a59
ActuatorEffectivenessRotors: Use modern parameter interface for rotor count
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This lead to a compiler warning with arm-none-eabi-gcc 12+
about the variable count potentially being a dangling pointer.
2023-12-05 12:06:56 -05:00
de9074558b
Roboclaw: Updated Airframe and fixed left and right mapping error
2023-11-28 16:30:17 +01:00
8ea04b0f8f
ActuatorEffectivenessHelicopterCoaxial: fix copy paste error in saturation logic
2023-09-28 08:55:06 +02:00
8a2d2fb1cd
HelicopterCoaxial: only publish unallocated thrust in the saturation case
2023-09-28 08:55:06 +02:00
169a0f580d
HelicopterCoaxial: correct constraining for minimum 2 swash plate servos
2023-09-28 08:55:06 +02:00
20f2df4410
HelicopterCoaxial: handle yaw saturation
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This had to be done for the integrators to work at all.
2023-09-28 08:55:06 +02:00
cf40d95ef0
HelicopterCoaxial: adjust for coaxial allocation
2023-09-28 08:55:06 +02:00
b3b373e074
control_allocator: add coaxial helicopter effectiveness
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It's now just a copy of the helicopter such that changes get well
visible in the history.
2023-09-28 08:55:06 +02:00
b56e7a036c
control_allocator: allow for only 2 swash plate servos
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This is required to support fixed pitch propeller helicopters that have
no collective but only cyclic pitch with two degrees of freedom and
hence only two servos.
The amount of thrust in the body z axis is then controlled using the
motor speed which makes particularly sense on coaxial helicopters
that need to control yaw with changing motor speeds already.
2023-09-28 08:55:06 +02:00
35b32e8cb0
ActuatorEffectivenessHelicopter: spacing
2023-09-28 08:55:06 +02:00
2be687a84c
Helicopter: add collective pitch offset to Actuator UI parameters
2023-09-28 08:55:06 +02:00
99e2acf89c
ActuatorEffectivenessHelicopter: explicitly handle unsaturated case
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This became necessary otherwise
the allocation reports saturation all
the time and the rate integrator doesn't work.
2023-09-28 08:53:35 +02:00
fb30b4d288
control_allocator: Clarify position description
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I'm assuming that the rotor positions are given relative to the center
of gravity (CG).
Signed-off-by: Julian Oes <julian@oes.ch >
2023-09-04 08:02:15 +02:00
f1b5b4f524
TiltrotorEffectiveness: limit thrust axis tilt to z effectiveness scaling ( #21990 )
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During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-08-25 14:45:14 +02:00
410206aa5d
Control Allocation: fixes in yaw saturation detection for vehicles with tilt-for-yaw ( #21994 )
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* ActuatorEffectiveness: base yaw saturation on tilt actuator limits (VTOL Tiltrotor)
* ActuatorEffectiveness: add custom yaw saturation for MC Tilt
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-08-24 13:58:58 +02:00
0eb276f273
Tiltrotor: move spin up tilt to control allocation ( #21991 )
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EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-08-24 13:57:24 +02:00
03365658d5
VehicleControlMode: add flag_control_allocation_enabled
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Allows (external) modes to directly publish actuator_{motors,servos}.
2023-08-21 20:53:51 -04:00
eaad11bb74
ActuatorEffectiveness: add comment for 2% magic number to stop motors
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-08-17 13:28:09 +02:00
e776aca9ef
UUV: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
6b7aed3d44
Boats: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
95a35c972d
Rovers: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
Daan Smienk