hacks to make unified effectiveness matrix work

Signed-off-by: RomanBapst <bapstroman@gmail.com>

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -12,8 +12,8 @@
 param set-default FD_ACT_EN 0
 param set-default FD_ACT_MOT_TOUT 500
 
-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 2
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 11
 
 param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 0.1515
@@ -84,5 +84,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
+#set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER skip

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp

@@ -63,6 +63,7 @@ enum class EffectivenessUpdateReason {
 	NO_EXTERNAL_UPDATE = 0,
 	CONFIGURATION_UPDATE = 1,
 	MOTOR_ACTIVATION_UPDATE = 2,
+	AIRSPEED_CHANGED = 3
 };
 
 
@@ -133,6 +134,16 @@ public:
 		_flight_phase = flight_phase;
 	}
 
+	/**
+	 * Set the equivalent airspeed
+	 *
+	 * @param Equivalent airspeed
+	 */
+	virtual void setEquivalentAirspeed(const float airspeed)
+	{
+		_airspeed_equivalent = airspeed;
+	}
+
 	/**
 	 * Get the number of effectiveness matrices. Must be <= MAX_NUM_MATRICES.
 	 * This is expected to stay constant.
@@ -198,4 +209,5 @@ public:
 
 protected:
 	FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT};		///< Current flight phase
+	float _airspeed_equivalent{NAN};
 };

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp

@@ -34,6 +34,7 @@
 #include <px4_platform_common/log.h>
 
 #include "ActuatorEffectivenessControlSurfaces.hpp"
+#include <lib/mathlib/mathlib.h>
 
 using namespace matrix;
 
@@ -127,7 +128,12 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 bool ActuatorEffectivenessControlSurfaces::addActuators(Configuration &configuration)
 {
 	for (int i = 0; i < _count; i++) {
-		int actuator_idx = configuration.addActuator(ActuatorType::SERVOS, _params[i].torque, Vector3f{});
+		const float airspeed_trim = 15.0f;
+		_airspeed_equivalent = math::max(_airspeed_equivalent, 3.0f);
+		float airspeed_scaling = _airspeed_equivalent / airspeed_trim;
+		airspeed_scaling = math::constrain(airspeed_scaling, 0.001f, 1000.0f);
+		Vector3f actual_torque = _params[i].torque * airspeed_scaling * airspeed_scaling;
+		int actuator_idx = configuration.addActuator(ActuatorType::SERVOS, actual_torque, Vector3f{});
 
 		if (actuator_idx >= 0) {
 			configuration.trim[configuration.selected_matrix](actuator_idx) = _params[i].trim;

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp

@@ -89,7 +89,7 @@ void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight
 	// update stopped motors
 	switch (flight_phase) {
 	case FlightPhase::FORWARD_FLIGHT:
-		_stopped_motors = _mc_motors_mask;
+		//_stopped_motors = _mc_motors_mask;
 		break;
 
 	case FlightPhase::HOVER_FLIGHT:

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOLUnified.cpp

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ActuatorEffectivenessStandardVTOLUnified.hpp"
+#include <ControlAllocation/ControlAllocation.hpp>
+
+using namespace matrix;
+
+ActuatorEffectivenessStandardVTOLUnified::ActuatorEffectivenessStandardVTOLUnified(ModuleParams *parent) :
+	ModuleParams(parent),
+	_rotors(this),
+	_control_surfaces(this)
+{
+}
+
+bool ActuatorEffectivenessStandardVTOLUnified::getEffectivenessMatrix(Configuration &configuration,
+		EffectivenessUpdateReason external_update)
+{
+	if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
+		return false;
+	}
+
+	if (external_update == EffectivenessUpdateReason::AIRSPEED_CHANGED) {
+		//printf("Updating due to airspeed %.2f\n", (double)_airspeed_equivalent);
+		_control_surfaces.setEquivalentAirspeed(_airspeed_equivalent);
+	}
+
+	// Motors
+	configuration.selected_matrix = 0;
+	_rotors.enablePropellerTorqueNonUpwards(false);
+	const bool mc_rotors_added_successfully = _rotors.addActuators(configuration);
+	_mc_motors_mask = _rotors.getUpwardsMotors();
+
+	// Control Surfaces
+	configuration.selected_matrix = 0;
+	_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
+	const bool surfaces_added_successfully = _control_surfaces.addActuators(configuration);
+
+	return (mc_rotors_added_successfully && surfaces_added_successfully);
+}
+
+void ActuatorEffectivenessStandardVTOLUnified::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp)
+{
+	// apply flaps
+	if (matrix_index == 1) {
+		actuator_controls_s actuator_controls_1;
+
+		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
+			float control_flaps = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
+			float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
+			_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
+		}
+	}
+}
+
+void ActuatorEffectivenessStandardVTOLUnified::setFlightPhase(const FlightPhase &flight_phase)
+{
+	if (_flight_phase == flight_phase) {
+		return;
+	}
+
+	ActuatorEffectiveness::setFlightPhase(flight_phase);
+
+	// update stopped motors
+	switch (flight_phase) {
+	case FlightPhase::FORWARD_FLIGHT:
+		//_stopped_motors = _mc_motors_mask;
+		break;
+
+	case FlightPhase::HOVER_FLIGHT:
+	case FlightPhase::TRANSITION_FF_TO_HF:
+	case FlightPhase::TRANSITION_HF_TO_FF:
+		_stopped_motors = 0;
+		break;
+	}
+}

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOLUnified.hpp

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ActuatorEffectivenessStandardVTOLUnified.hpp
+ *
+ * Actuator effectiveness for standard VTOL (unified control effectiveness)
+ *
+ */
+
+#pragma once
+
+#include "ActuatorEffectiveness.hpp"
+#include "ActuatorEffectivenessRotors.hpp"
+#include "ActuatorEffectivenessControlSurfaces.hpp"
+
+#include <uORB/topics/actuator_controls.h>
+
+class ActuatorEffectivenessStandardVTOLUnified : public ModuleParams, public ActuatorEffectiveness
+{
+public:
+	ActuatorEffectivenessStandardVTOLUnified(ModuleParams *parent);
+	virtual ~ActuatorEffectivenessStandardVTOLUnified() = default;
+
+	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
+
+	const char *name() const override { return "Standard VTOL Unified"; }
+
+	int numMatrices() const override { return 1; }
+
+	void getDesiredAllocationMethod(AllocationMethod allocation_method_out[MAX_NUM_MATRICES]) const override
+	{
+		//static_assert(MAX_NUM_MATRICES >= 2, "expecting at least 2 matrices");
+		allocation_method_out[0] = AllocationMethod::PSEUDO_INVERSE;
+		//allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
+	}
+
+	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	{
+		normalize[0] = true;
+		//normalize[1] = false;
+	}
+
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp) override;
+
+	void setFlightPhase(const FlightPhase &flight_phase) override;
+
+	uint32_t getStoppedMotors() const override { return _stopped_motors; }
+
+private:
+	ActuatorEffectivenessRotors _rotors;
+	ActuatorEffectivenessControlSurfaces _control_surfaces;
+
+	uint32_t _mc_motors_mask{}; ///< mc motors (stopped during forward flight)
+	uint32_t _stopped_motors{}; ///< currently stopped motors
+
+	int _first_control_surface_idx{0}; ///< applies to matrix 1
+
+	uORB::Subscription _actuator_controls_1_sub{ORB_ID(actuator_controls_0)};
+
+};

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt

@@ -52,6 +52,8 @@ px4_add_library(ActuatorEffectiveness
 	ActuatorEffectivenessRotors.hpp
 	ActuatorEffectivenessStandardVTOL.cpp
 	ActuatorEffectivenessStandardVTOL.hpp
+	ActuatorEffectivenessStandardVTOLUnified.cpp
+	ActuatorEffectivenessStandardVTOLUnified.hpp
 	ActuatorEffectivenessTiltrotorVTOL.cpp
 	ActuatorEffectivenessTiltrotorVTOL.hpp
 	ActuatorEffectivenessTailsitterVTOL.cpp

src/modules/control_allocator/ControlAllocator.cpp

@@ -260,6 +260,10 @@ ControlAllocator::update_effectiveness_source()
 			tmp = new ActuatorEffectivenessHelicopter(this);
 			break;
 
+		case EffectivenessSource::STANDARD_VTOL_UNIFIED:
+			tmp = new ActuatorEffectivenessStandardVTOLUnified(this);
+			break;
+
 		default:
 			PX4_ERR("Unknown airframe");
 			break;
@@ -361,6 +365,13 @@ ControlAllocator::Run()
 	vehicle_torque_setpoint_s vehicle_torque_setpoint;
 	vehicle_thrust_setpoint_s vehicle_thrust_setpoint;
 
+	if (_airspeed_sub.updated()) {
+		airspeed_validated_s airspeed{};
+		_airspeed_sub.copy(&airspeed);
+		_actuator_effectiveness->setEquivalentAirspeed(airspeed.calibrated_airspeed_m_s);
+		update_effectiveness_matrix_if_needed(EffectivenessUpdateReason::AIRSPEED_CHANGED);
+	}
+
 	// Run allocator on torque changes
 	if (_vehicle_torque_setpoint_sub.update(&vehicle_torque_setpoint)) {
 		_torque_sp = matrix::Vector3f(vehicle_torque_setpoint.xyz);

src/modules/control_allocator/ControlAllocator.hpp

@@ -44,6 +44,7 @@
 #include <ActuatorEffectiveness.hpp>
 #include <ActuatorEffectivenessMultirotor.hpp>
 #include <ActuatorEffectivenessStandardVTOL.hpp>
+#include <ActuatorEffectivenessStandardVTOLUnified.hpp>
 #include <ActuatorEffectivenessTiltrotorVTOL.hpp>
 #include <ActuatorEffectivenessTailsitterVTOL.hpp>
 #include <ActuatorEffectivenessRoverAckermann.hpp>
@@ -75,6 +76,7 @@
 #include <uORB/topics/vehicle_thrust_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/failure_detector_status.h>
+#include <uORB/topics/airspeed_validated.h>
 
 class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::ScheduledWorkItem
 {
@@ -153,6 +155,7 @@ private:
 		MULTIROTOR_WITH_TILT = 8,
 		CUSTOM = 9,
 		HELICOPTER = 10,
+		STANDARD_VTOL_UNIFIED = 11,
 	};
 
 	enum class FailureMode {
@@ -184,6 +187,7 @@ private:
 
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)};
+	uORB::Subscription _airspeed_sub{ORB_ID(airspeed_validated)};
 
 	matrix::Vector3f _torque_sp;
 	matrix::Vector3f _thrust_sp;

src/modules/control_allocator/module.yaml

@@ -28,6 +28,7 @@ parameters:
                 8: Multirotor with Tilt
                 9: Custom
                 10: Helicopter
+                11: Standard VTOL Unified (testing)
             default: 0
 
         CA_METHOD:

src/modules/vtol_att_control/standard.cpp

@@ -400,11 +400,17 @@ void Standard::fill_actuator_outputs()
 	_torque_setpoint_0->xyz[1] = mc_out[actuator_controls_s::INDEX_PITCH];
 	_torque_setpoint_0->xyz[2] = mc_out[actuator_controls_s::INDEX_YAW];
 
-	_torque_setpoint_1->timestamp = hrt_absolute_time();
-	_torque_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
-	_torque_setpoint_1->xyz[0] = fw_out[actuator_controls_s::INDEX_ROLL];
-	_torque_setpoint_1->xyz[1] = fw_out[actuator_controls_s::INDEX_PITCH];
-	_torque_setpoint_1->xyz[2] = fw_out[actuator_controls_s::INDEX_YAW];
+	if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
+		_torque_setpoint_0->xyz[0] = fw_out[actuator_controls_s::INDEX_ROLL];
+		_torque_setpoint_0->xyz[1] = fw_out[actuator_controls_s::INDEX_PITCH];
+		_torque_setpoint_0->xyz[2] = fw_out[actuator_controls_s::INDEX_YAW];
+	}
+
+	// _torque_setpoint_1->timestamp = hrt_absolute_time();
+	// _torque_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
+	// _torque_setpoint_1->xyz[0] = fw_out[actuator_controls_s::INDEX_ROLL];
+	// _torque_setpoint_1->xyz[1] = fw_out[actuator_controls_s::INDEX_PITCH];
+	// _torque_setpoint_1->xyz[2] = fw_out[actuator_controls_s::INDEX_YAW];
 
 	_thrust_setpoint_0->timestamp = hrt_absolute_time();
 	_thrust_setpoint_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
@@ -412,11 +418,11 @@ void Standard::fill_actuator_outputs()
 	_thrust_setpoint_0->xyz[1] = 0.f;
 	_thrust_setpoint_0->xyz[2] = -mc_out[actuator_controls_s::INDEX_THROTTLE];
 
-	_thrust_setpoint_1->timestamp = hrt_absolute_time();
-	_thrust_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
-	_thrust_setpoint_1->xyz[0] = 0.f;
-	_thrust_setpoint_1->xyz[1] = 0.f;
-	_thrust_setpoint_1->xyz[2] = 0.f;
+	// _thrust_setpoint_1->timestamp = hrt_absolute_time();
+	// _thrust_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
+	// _thrust_setpoint_1->xyz[0] = 0.f;
+	// _thrust_setpoint_1->xyz[1] = 0.f;
+	// _thrust_setpoint_1->xyz[2] = 0.f;
 
 	_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
 	_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;