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343cf5603e
- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>
77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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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/**
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* @file ControlAllocationPseudoInverse.hpp
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*
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* Simple Control Allocation Algorithm
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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#include "ControlAllocationPseudoInverse.hpp"
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void
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ControlAllocationPseudoInverse::setEffectivenessMatrix(
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const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
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const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator_trim)
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{
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ControlAllocation::setEffectivenessMatrix(effectiveness, actuator_trim);
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_mix_update_needed = true;
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}
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void
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ControlAllocationPseudoInverse::updatePseudoInverse()
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{
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if (_mix_update_needed) {
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_mix = matrix::geninv(_effectiveness);
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_mix_update_needed = false;
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}
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}
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void
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ControlAllocationPseudoInverse::allocate()
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{
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//Compute new gains if needed
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updatePseudoInverse();
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// Allocate
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_actuator_sp = _actuator_trim + _mix * (_control_sp - _control_trim);
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// Clip
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_actuator_sp = clipActuatorSetpoint(_actuator_sp);
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// Compute achieved control
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_control_allocated = _effectiveness * _actuator_sp;
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}
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