3943025f32
Centralize yaw margin ( #23982 )
2024-11-20 09:52:36 +01:00
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
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
6db92b4011
ControlAllocation: remove actuator trim value from actuator_sp to calculate allocated control
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-10-04 07:51:25 +02:00
20ccfbb719
control_allocator: remove failed motor from effectiveness
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- 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
ddad4c31c9
control_allocator: compute thrust scaling individually per axis
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Before, adding the pusher to the same matrix as the upwards motors affected
the scaling for the upwards motors, resulting in values not equal to -1
anymore.
2022-02-25 08:30:58 +01:00
cbb8c90245
ControlAllocation: fix calculation of roll/pitch normalization scale
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Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-01-19 08:22:12 +01:00
0950bb81ab
ControlAllocation: update normalization scale only if matrix updated is forced
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The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-01-19 08:22:12 +01:00
5259877b1b
control_allocator: update matrix normalization
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- only normalize rpy for MC matrices
- for thrust use the 3D vector, so it works for FW and tilt rotors as well
This keeps MC unchanged.
2021-12-24 20:06:13 -05:00
4c80adfaf1
control_allocator: implement trim + slew rate limits configuration
2021-12-24 20:06:13 -05:00
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
2809dd8944
control_allocator: remove min/max/scale params
2021-11-23 12:40:22 -05:00
b29d9db7f1
control_allocator: limit status publication rate to 200Hz
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Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
2021-11-23 12:40:22 -05:00
a0e43bca96
msg: remove unused vehicle_actuator_setpoint topic
2021-11-23 12:40:22 -05:00
52a2ef34fd
mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1
2021-11-23 12:40:22 -05:00
d47f9f155a
MC mixer: replace multirotor_motor_limits by control_allocator_status
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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
2021-11-09 10:35:10 -05:00
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
ba1b7f3a07
CA pseudo inverse: set all small elements in CA matrix to zero
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This avoids problems in the sequencial desaturation method where vectors
of the CA matrix are used to desaturate the motors.
2021-10-08 09:35:40 +02:00
b18b7e84d2
CA pseudo-inverse: normalize control allocation matrix
2021-10-08 09:35:40 +02:00
291ca246d2
matrix: update submodule (improves matrix inversion)
2021-09-05 23:18:28 -04:00
212ec821b1
control_allocator: set unused actuators to trim instead of min
2021-01-18 11:25:37 -05:00
3606f86518
control_allocator: ensure unused outputs are initialized to min
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Mostly important in cases where the ouputs would change (e.g. param change)
2021-01-18 11:25:37 -05:00
3dad79d8f5
control_allocator: inline one-line setters & getters
2021-01-18 11:25:37 -05:00
0e66b0876b
control_allocator: change SequentialDesaturation to existing MC mixer
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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
343cf5603e
initial control allocation support
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- 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
somebody-once-told-me