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109 lines
4.3 KiB
C++
109 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "ActuatorEffectiveness.hpp"
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#include <px4_platform_common/log.h>
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int ActuatorEffectiveness::Configuration::addActuator(ActuatorType type, const matrix::Vector3f &torque,
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const matrix::Vector3f &thrust)
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{
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int actuator_idx = num_actuators_matrix[selected_matrix];
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if (actuator_idx >= NUM_ACTUATORS) {
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PX4_ERR("Too many actuators");
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return -1;
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}
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if ((int)type < (int)ActuatorType::COUNT - 1 && num_actuators[(int)type + 1] > 0) {
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PX4_ERR("Trying to add actuators in the wrong order (add motors first, then servos)");
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return -1;
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}
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if (type == ActuatorType::MOTORS && selected_matrix != 0) {
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PX4_ERR("Trying to add motors to matrix %d (add to matrix 0)", selected_matrix);
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return -1;
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}
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effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::ROLL, actuator_idx) = torque(0);
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effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::PITCH, actuator_idx) = torque(1);
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effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::YAW, actuator_idx) = torque(2);
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effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_X, actuator_idx) = thrust(0);
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effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_Y, actuator_idx) = thrust(1);
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effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_Z, actuator_idx) = thrust(2);
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matrix_selection_indexes[totalNumActuators()] = selected_matrix;
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++num_actuators[(int)type];
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return num_actuators_matrix[selected_matrix]++;
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}
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void ActuatorEffectiveness::Configuration::actuatorsAdded(ActuatorType type, int count)
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{
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int total_count = totalNumActuators();
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for (int i = 0; i < count; ++i) {
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matrix_selection_indexes[i + total_count] = selected_matrix;
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}
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num_actuators[(int)type] += count;
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num_actuators_matrix[selected_matrix] += count;
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}
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int ActuatorEffectiveness::Configuration::totalNumActuators() const
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{
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int total_count = 0;
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for (int i = 0; i < MAX_NUM_MATRICES; ++i) {
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total_count += num_actuators_matrix[i];
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}
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return total_count;
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}
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void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(ActuatorBitmask stoppable_motors_mask, ActuatorVector &actuator_sp)
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{
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for (int actuator_idx = 0; actuator_idx < NUM_ACTUATORS; actuator_idx++) {
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const ActuatorBitmask motor_mask = (1u << actuator_idx);
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if (stoppable_motors_mask & motor_mask) {
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// Stop motor if its setpoint is below 2%. This value was determined empirically (RC stick inaccuracy)
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if (fabsf(actuator_sp(actuator_idx)) < .02f) {
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_stopped_motors_mask |= motor_mask;
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} else {
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_stopped_motors_mask &= ~motor_mask;
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}
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}
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}
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}
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