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0950bb81ab
The forced flag is used to distinguish between updates due to a configuration (parameter) change (only enabled when disarmed), and matrix updates due to motor tilt change. Only update the normalization scale if the forced flag is true, and use a tilt angle of vertical position for it to have the scales tilt-invariant. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
77 lines
2.8 KiB
C++
77 lines
2.8 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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* It computes the pseudo-inverse of the effectiveness matrix
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* Actuator saturation is handled by simple clipping, do not
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* expect good performance in case of actuator saturation.
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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#pragma once
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#include "ControlAllocation.hpp"
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class ControlAllocationPseudoInverse: public ControlAllocation
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{
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public:
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ControlAllocationPseudoInverse() = default;
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virtual ~ControlAllocationPseudoInverse() = default;
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void allocate() override;
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void setEffectivenessMatrix(const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness,
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const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators,
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bool update_normalization_scale) override;
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protected:
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matrix::Matrix<float, NUM_ACTUATORS, NUM_AXES> _mix;
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bool _mix_update_needed{false};
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/**
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* Recalculate pseudo inverse if required.
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*
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*/
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void updatePseudoInverse();
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private:
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void normalizeControlAllocationMatrix();
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void updateControlAllocationMatrixScale();
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bool _normalization_needs_update{false};
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};
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