Beat Küng
183ab8bbe7
control_allocator: avoid default argument for virtual method getEffectivenessMatrix
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clang tidy error:
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp:50:34: error: default arguments on virtual or override methods are prohibited [google-default-arguments,-warnings-as-errors]
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
2021-10-18 18:45:19 -04:00
Beat Küng
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
bresch
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
bresch
b18b7e84d2
CA pseudo-inverse: normalize control allocation matrix
2021-10-08 09:35:40 +02:00
Peter van der Perk
d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
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Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
bresch
f09b34007e
CA: reload CA matrix to newly created CA class properly
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Also remove the dependency of ActuatorEffectivenessMultirotor
to param update uORB topic; the CA module
sends a "force" parameter when needed
2021-09-11 15:07:49 -04:00
bresch
cf5917d188
control_allocator: restructure param update
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recompute effectiveness on param change
clear update at the end
2021-09-11 15:07:49 -04:00
Beat Küng
291ca246d2
matrix: update submodule (improves matrix inversion)
2021-09-05 23:18:28 -04:00
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
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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
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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
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
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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
Beat Küng
308f614735
refactor control_allocator: directly get the effectiveness matrix when updated
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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
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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
