PX4-Autopilot/src/modules/control_allocator/module.yaml

__max_num_mc_motors: &max_num_mc_motors 8

module_name: Control Allocation

parameters:
    - group: Control Allocation
      definitions:
        CA_AIRFRAME:
            description:
                short: Airframe selection
                long: |
                  Defines which mixer implementation to use.
                  Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.
            type: enum
            values:
                0: Multirotor
                1: Standard VTOL (WIP)
                2: Tiltrotor VTOL (WIP)
            default: 0

        CA_METHOD:
            description:
                short: Control allocation method
                long: |
                  Selects the algorithm and desaturation method
            type: enum
            values:
                0: Pseudo-inverse with output clipping
                1: Pseudo-inverse with sequential desaturation technique
            default: 1

        # MC rotors
        CA_MC_R_COUNT:
            description:
                short: Total number of rotors
            type: enum
            values:
                0: 0 Motors
                1: 1 Motor
                2: 2 Motors
                3: 3 Motors
                4: 4 Motors
                5: 5 Motors
                6: 6 Motors
                7: 7 Motors
                8: 8 Motors
            default: 0
        CA_MC_R${i}_PX:
            description:
                short: Position of rotor ${i} along X body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0
        CA_MC_R${i}_PY:
            description:
                short: Position of rotor ${i} along Y body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0
        CA_MC_R${i}_PZ:
            description:
                short: Position of rotor ${i} along Z body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0

        CA_MC_R${i}_AX:
            description:
                short: Axis of rotor ${i} thrust vector, X body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0
        CA_MC_R${i}_AY:
            description:
                short: Axis of rotor ${i} thrust vector, Y body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0
        CA_MC_R${i}_AZ:
            description:
                short: Axis of rotor ${i} thrust vector, Z body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: -1.0

        CA_MC_R${i}_CT:
            description:
                short: Thrust coefficient of rotor ${i}
                long: |
                  The thrust coefficient if defined as Thrust = CT * u^2,
                  where u (with value between actuator minimum and maximum)
                  is the output signal sent to the motor controller.
            type: float
            decimal: 1
            increment: 1
            num_instances: *max_num_mc_motors
            min: 0
            max: 100
            default: 6.5

        CA_MC_R${i}_KM:
            description:
                short: Moment coefficient of rotor ${i}
                long: |
                  The moment coefficient if defined as Torque = KM * Thrust.

                  Use a positive value for a rotor with CCW rotation.
                  Use a negative value for a rotor with CW rotation.
            type: float
            decimal: 3
            increment: 0.01
            num_instances: *max_num_mc_motors
            min: -1
            max: 1
            default: 0.05

# Mixer
mixer:
    actuator_types:
        motor:
            functions: 'Motor'
            actuator_testing_values:
                min: 0
                max: 1
                default_is_nan: true
        servo:
            functions: 'Servo'
            actuator_testing_values:
                min: -1
                max: 1
                default: 0
        DEFAULT:
            actuator_testing_values:
                min: -1
                max: 1
                default: -1

    config:
        param: CA_AIRFRAME
        types:
            0: # Multirotor
                type: "multirotor"
                actuators:
                  - actuator_type: 'motor'
                    count: 'CA_MC_R_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_MC_R${i}_PX', 'CA_MC_R${i}_PY', 'CA_MC_R${i}_PZ' ]
                        extra:
                          - name: 'CA_MC_R${i}_KM'
                            label: 'Direction CCW'
                            function: 'spin-dir'
                            show_as: 'true-if-positive'

            2: # Tiltrotor VTOL example
                actuators:
                  - actuator_type: 'motor'
                    instances:
                      - name: 'Front Left Motor'
                        position: [ 0.3, -0.3, 0 ]
                      - name: 'Front Right Motor'
                        position: [ 0.3, 0.3, 0 ]
                      - name: 'Rear Motor'
                        position: [ -0.75, 0.3, 0 ]
                  - actuator_type: 'servo'
                    instances:
                      - name: 'Front Left Tilt'
                        position: [ 0.3, -0.3, 0 ]
                      - name: 'Front Right Tilt'
                        position: [ 0.3, 0.3, 0 ]
                      - name: 'Left Elevon'
                        position: [ 0, -0.3, 0 ]
                      - name: 'Right Elevon'
                        position: [ 0, 0.3, 0 ]