Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
recomputing the scale / normalization
This replaces the propeller_torque_disabled flag to disable yaw by differential thrust
for tiltrotor and tailsitter VTOLs, as propeller_torque_disabled is not enough to set
effectiveness of an acutator in the yaw axis to 0 in case it's tilted.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in
MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
by the allocator directly.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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.
Weak authority on a axis is currently defined as: none of the actuators have an
effectivness on this particular axis larger than 0.05.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-pass flag EffectivenessUpdateReason into effectiveness, indicating if there was an external
update or not. Reasons for external updates are:
-config changes (parameter)
-motor failure detected or certain redundant motors are switched off to save energy
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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>
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>
