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Silvan Fuhrer
410206aa5d
* ActuatorEffectiveness: base yaw saturation on tilt actuator limits (VTOL Tiltrotor) * ActuatorEffectiveness: add custom yaw saturation for MC Tilt --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
131 lines
5.1 KiB
C++
131 lines
5.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021-2023 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 "ActuatorEffectivenessMCTilt.hpp"
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using namespace matrix;
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ActuatorEffectivenessMCTilt::ActuatorEffectivenessMCTilt(ModuleParams *parent)
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: ModuleParams(parent),
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_mc_rotors(this, ActuatorEffectivenessRotors::AxisConfiguration::FixedUpwards, true),
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_tilts(this)
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{
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}
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bool
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ActuatorEffectivenessMCTilt::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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// MC motors
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_mc_rotors.enableYawByDifferentialThrust(!_tilts.hasYawControl());
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const bool rotors_added_successfully = _mc_rotors.addActuators(configuration);
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// Tilts
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_first_tilt_idx = configuration.num_actuators_matrix[0];
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_tilts.updateTorqueSign(_mc_rotors.geometry());
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const bool tilts_added_successfully = _tilts.addActuators(configuration);
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// Set offset such that tilts point upwards when control input == 0 (trim is 0 if min_angle == -max_angle).
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// Note that we don't set configuration.trim here, because in the case of trim == +-1, yaw is always saturated
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// and reduced to 0 with the sequential desaturation method. Instead we add it after.
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_tilt_offsets.setZero();
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for (int i = 0; i < _tilts.count(); ++i) {
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float delta_angle = _tilts.config(i).max_angle - _tilts.config(i).min_angle;
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if (delta_angle > FLT_EPSILON) {
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float trim = -1.f - 2.f * _tilts.config(i).min_angle / delta_angle;
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_tilt_offsets(_first_tilt_idx + i) = trim;
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}
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}
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return (rotors_added_successfully && tilts_added_successfully);
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}
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void ActuatorEffectivenessMCTilt::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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actuator_sp += _tilt_offsets;
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// TODO: dynamic matrix update
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bool yaw_saturated_positive = true;
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bool yaw_saturated_negative = true;
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for (int i = 0; i < _tilts.count(); ++i) {
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// custom yaw saturation logic: only declare yaw saturated if all tilts are at the negative or positive yawing limit
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if (_tilts.getYawTorqueOfTilt(i) > FLT_EPSILON) {
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if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) {
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yaw_saturated_positive = false;
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}
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if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) {
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yaw_saturated_negative = false;
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}
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} else if (_tilts.getYawTorqueOfTilt(i) < -FLT_EPSILON) {
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if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) {
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yaw_saturated_negative = false;
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}
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if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) {
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yaw_saturated_positive = false;
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}
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}
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}
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_yaw_tilt_saturation_flags.tilt_yaw_neg = yaw_saturated_negative;
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_yaw_tilt_saturation_flags.tilt_yaw_pos = yaw_saturated_positive;
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}
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void ActuatorEffectivenessMCTilt::getUnallocatedControl(int matrix_index, control_allocator_status_s &status)
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{
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// Note: the values '-1', '1' and '0' are just to indicate a negative,
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// positive or no saturation to the rate controller. The actual magnitude is not used.
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if (_yaw_tilt_saturation_flags.tilt_yaw_pos) {
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status.unallocated_torque[2] = 1.f;
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} else if (_yaw_tilt_saturation_flags.tilt_yaw_neg) {
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status.unallocated_torque[2] = -1.f;
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} else {
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status.unallocated_torque[2] = 0.f;
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}
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}
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