mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 17:30:35 +08:00
Matthias Grob
117 lines
4.3 KiB
C++
117 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 "ActuatorEffectivenessStandardVTOL.hpp"
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#include <ControlAllocation/ControlAllocation.hpp>
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using namespace matrix;
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ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL(ModuleParams *parent)
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: ModuleParams(parent), _rotors(this), _control_surfaces(this)
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{
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}
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bool
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ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configuration,
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EffectivenessUpdateReason external_update)
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{
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if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
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return false;
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}
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// Motors
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configuration.selected_matrix = 0;
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_rotors.enablePropellerTorqueNonUpwards(false);
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const bool mc_rotors_added_successfully = _rotors.addActuators(configuration);
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_upwards_motors_mask = _rotors.getUpwardsMotors();
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_forwards_motors_mask = _rotors.getForwardsMotors();
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// Control Surfaces
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configuration.selected_matrix = 1;
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_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
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const bool surfaces_added_successfully = _control_surfaces.addActuators(configuration);
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return (mc_rotors_added_successfully && surfaces_added_successfully);
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}
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void ActuatorEffectivenessStandardVTOL::allocateAuxilaryControls(const float dt, int matrix_index,
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ActuatorVector &actuator_sp)
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{
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if (matrix_index == 1) {
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// apply flaps
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normalized_unsigned_setpoint_s flaps_setpoint;
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if (_flaps_setpoint_sub.copy(&flaps_setpoint)) {
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_control_surfaces.applyFlaps(flaps_setpoint.normalized_setpoint, _first_control_surface_idx, dt, actuator_sp);
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}
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// apply spoilers
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normalized_unsigned_setpoint_s spoilers_setpoint;
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if (_spoilers_setpoint_sub.copy(&spoilers_setpoint)) {
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_control_surfaces.applySpoilers(spoilers_setpoint.normalized_setpoint, _first_control_surface_idx, dt, actuator_sp);
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}
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}
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}
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void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
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{
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if (matrix_index == 0) {
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stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
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}
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}
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void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
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{
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if (_flight_phase == flight_phase) {
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return;
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}
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ActuatorEffectiveness::setFlightPhase(flight_phase);
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// update stopped motors
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switch (flight_phase) {
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case FlightPhase::FORWARD_FLIGHT:
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_stopped_motors_mask |= _upwards_motors_mask;
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break;
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case FlightPhase::HOVER_FLIGHT:
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case FlightPhase::TRANSITION_FF_TO_HF:
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case FlightPhase::TRANSITION_HF_TO_FF:
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_stopped_motors_mask &= ~_upwards_motors_mask;
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break;
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}
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}
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