# 控制分配 (混控)

:::info
Control allocation replaces the legacy mixing approach used in PX4 v1.13 and earlier.
For PX4 v1.13 documentation see: [Mixing & Actuators](https://docs.px4.io/v1.13/en/concept/mixing.html), [Geometry Files](https://docs.px4.io/v1.13/en/concept/geometry_files.html) and [Adding a New Airframe Configuration](https://docs.px4.io/v1.13/en/dev_airframes/adding_a_new_frame.html).
:::

PX4从核心控制器获取所需的扭矩和推力指令，并将它们转换为控制电机或作动器的驱动指令。

指令间的转换取决于飞行器的物理构型。
例如，给“向右转”需要给出一个扭矩指令：

- 对于每个副翼都有一个舵机的飞机来说，该指令将会控制一个舵机向高处偏转，另一个向低处偏转。
- 多旋翼将会通过改变所有电机的转速来向右偏航。

PX4将这个转换逻辑区分开，这个逻辑被称为从姿态/角速率控制器输出的“混控”。
这样可以确保核心控制器不需要对每个机型构型进行特殊处理，可以大大提高复用性。

此外，PX4还将输出函数映射至指定的硬件输出。
这也意味着任何电机或舵机可以分配给几乎任何物理输出。

<!-- https://docs.google.com/drawings/d/1Li9YhTLc3yX6mGX0iSOfItHXvaUhevO2DRZwuxPQ1PI/edit -->

![Mixing Overview](../../assets/diagrams/mixing_overview.png)

## 作动器控制流程

模块和uORB话题混控流程概览（点击全屏查看）：

<!-- https://drive.google.com/file/d/1L2IoxsyB4GAWE-s82R_x42mVXW_IDlHP/view?usp=sharing -->

![Pipeline Overview](../../assets/concepts/control_allocation_pipeline.png)

备注：

- 角速率控制器输出力矩和推力设定值
- the `control_allocator` module:
  - 根据配置参数处理不同飞行器构型
  - 进行混控计算
  - 处理电机失效
  - 发布电机和作动器控制信号
  - publishes the servo trims separately so they can be added as an offset when [testing actuators](../config/actuators.md#actuator-testing) (using the test sliders).
- 输出驱动：
  - 处理硬件初始化和更新
  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module).
    The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
    Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
    For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
  - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
- if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command.

## 添加新构型或输出函数

See [this commit](https://github.com/PX4/PX4-Autopilot/commit/5cdb6fbd8e1352dcb94bd58918da405f8ff930d7) for how to add a new geometry.
The QGC UI will then automatically show the right configuration UI when [CA_AIRFRAME](../advanced_config/parameter_reference.md#CA_AIRFRAME) is set to the new geometry.

[This commit](https://github.com/PX4/PX4-Autopilot/commit/a65533b46986e32254b64b7c92469afb8178e370) shows how to add a new output function.
Any uORB topic can be subscribed and assigned to a function.

Note that parameters for control allocation are defined in [src/modules/control_allocator/module.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/control_allocator/module.yaml)
The schema for this file is [here](https://github.com/PX4/PX4-Autopilot/blob/main/validation/module_schema.yaml#L440=) (in particular, search for the key `mixer:`

## 设置默认机型构型

When [adding a new frame configuration](../dev_airframes/adding_a_new_frame.md), set the appropriate [CA_AIRFRAME](../advanced_config/parameter_reference.md#CA_AIRFRAME) and other default mixer values for the geometry.

You can see this, for example, in the airframe configuration file [13200_generic_vtol_tailsitter](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter)

```sh
...
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 2
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR0_PY 0.2
...
```

## 设置构型和输出

The broad geometry and default parameters for a vehicle are set (from the frame configuration file) when selecting the airframe in QGroundControl: [Basic Configuration > Airframe](../config/airframe.md).

The geometry parameters and output mapping for the specific frame and flight controller hardware are then configured using the QGroundControl **Actuators** setup screen: [Basic Configuration > Actuator Configuration and Testing](../config/actuators.md).