mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 10:57:34 +08:00
Daniel Agar
201 lines
7.9 KiB
C++
201 lines
7.9 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file ControlAllocator.hpp
|
|
*
|
|
* Control allocator.
|
|
*
|
|
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <ActuatorEffectiveness.hpp>
|
|
#include <ActuatorEffectivenessMultirotor.hpp>
|
|
#include <ActuatorEffectivenessStandardVTOL.hpp>
|
|
#include <ActuatorEffectivenessTiltrotorVTOL.hpp>
|
|
|
|
#include <ControlAllocation.hpp>
|
|
#include <ControlAllocationPseudoInverse.hpp>
|
|
#include <ControlAllocationSequentialDesaturation.hpp>
|
|
|
|
#include <lib/matrix/matrix/math.hpp>
|
|
#include <lib/perf/perf_counter.h>
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <px4_platform_common/module.h>
|
|
#include <px4_platform_common/module_params.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <uORB/Publication.hpp>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/SubscriptionCallback.hpp>
|
|
#include <uORB/topics/actuator_motors.h>
|
|
#include <uORB/topics/actuator_servos.h>
|
|
#include <uORB/topics/airspeed.h>
|
|
#include <uORB/topics/battery_status.h>
|
|
#include <uORB/topics/control_allocator_status.h>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/vehicle_torque_setpoint.h>
|
|
#include <uORB/topics/vehicle_thrust_setpoint.h>
|
|
#include <uORB/topics/vehicle_actuator_setpoint.h>
|
|
|
|
class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::WorkItem
|
|
{
|
|
public:
|
|
ControlAllocator();
|
|
|
|
virtual ~ControlAllocator();
|
|
|
|
/** @see ModuleBase */
|
|
static int task_spawn(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int custom_command(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int print_usage(const char *reason = nullptr);
|
|
|
|
/** @see ModuleBase::print_status() */
|
|
int print_status() override;
|
|
|
|
void Run() override;
|
|
|
|
bool init();
|
|
|
|
static constexpr uint8_t NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;
|
|
static constexpr uint8_t NUM_AXES = ControlAllocation::NUM_AXES;
|
|
|
|
private:
|
|
|
|
/**
|
|
* initialize some vectors/matrices from parameters
|
|
*/
|
|
void parameters_updated();
|
|
|
|
void update_allocation_method();
|
|
void update_effectiveness_source();
|
|
|
|
void update_effectiveness_matrix_if_needed(bool force = false);
|
|
|
|
void publish_actuator_setpoint();
|
|
void publish_control_allocator_status();
|
|
|
|
void publish_legacy_actuator_controls();
|
|
void publish_legacy_multirotor_motor_limits();
|
|
|
|
enum class AllocationMethod {
|
|
NONE = -1,
|
|
PSEUDO_INVERSE = 0,
|
|
SEQUENTIAL_DESATURATION = 1,
|
|
};
|
|
|
|
AllocationMethod _allocation_method_id{AllocationMethod::NONE};
|
|
ControlAllocation *_control_allocation{nullptr}; ///< class for control allocation calculations
|
|
|
|
enum class EffectivenessSource {
|
|
NONE = -1,
|
|
MULTIROTOR = 0,
|
|
STANDARD_VTOL = 1,
|
|
TILTROTOR_VTOL = 2,
|
|
};
|
|
|
|
EffectivenessSource _effectiveness_source_id{EffectivenessSource::NONE};
|
|
ActuatorEffectiveness *_actuator_effectiveness{nullptr}; ///< class providing actuator effectiveness
|
|
|
|
// Inputs
|
|
uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)}; /**< vehicle torque setpoint subscription */
|
|
uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_sub{this, ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */
|
|
|
|
// Outputs
|
|
uORB::Publication<vehicle_actuator_setpoint_s> _vehicle_actuator_setpoint_pub{ORB_ID(vehicle_actuator_setpoint)}; /**< actuator setpoint publication */
|
|
uORB::Publication<control_allocator_status_s> _control_allocator_status_pub{ORB_ID(control_allocator_status)}; /**< actuator setpoint publication */
|
|
|
|
uORB::Publication<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
|
|
uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
|
|
|
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
|
|
|
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)}; /**< airspeed subscription */
|
|
|
|
matrix::Vector3f _torque_sp;
|
|
matrix::Vector3f _thrust_sp;
|
|
|
|
// float _battery_scale_factor{1.0f};
|
|
// float _airspeed_scale_factor{1.0f};
|
|
|
|
perf_counter_t _loop_perf; /**< loop duration performance counter */
|
|
|
|
hrt_abstime _last_run{0};
|
|
hrt_abstime _timestamp_sample{0};
|
|
|
|
DEFINE_PARAMETERS(
|
|
(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe,
|
|
(ParamInt<px4::params::CA_METHOD>) _param_ca_method,
|
|
(ParamBool<px4::params::CA_BAT_SCALE_EN>) _param_ca_bat_scale_en,
|
|
(ParamBool<px4::params::CA_AIR_SCALE_EN>) _param_ca_air_scale_en,
|
|
(ParamFloat<px4::params::CA_ACT0_MIN>) _param_ca_act0_min,
|
|
(ParamFloat<px4::params::CA_ACT1_MIN>) _param_ca_act1_min,
|
|
(ParamFloat<px4::params::CA_ACT2_MIN>) _param_ca_act2_min,
|
|
(ParamFloat<px4::params::CA_ACT3_MIN>) _param_ca_act3_min,
|
|
(ParamFloat<px4::params::CA_ACT4_MIN>) _param_ca_act4_min,
|
|
(ParamFloat<px4::params::CA_ACT5_MIN>) _param_ca_act5_min,
|
|
(ParamFloat<px4::params::CA_ACT6_MIN>) _param_ca_act6_min,
|
|
(ParamFloat<px4::params::CA_ACT7_MIN>) _param_ca_act7_min,
|
|
(ParamFloat<px4::params::CA_ACT8_MIN>) _param_ca_act8_min,
|
|
(ParamFloat<px4::params::CA_ACT9_MIN>) _param_ca_act9_min,
|
|
(ParamFloat<px4::params::CA_ACT10_MIN>) _param_ca_act10_min,
|
|
(ParamFloat<px4::params::CA_ACT11_MIN>) _param_ca_act11_min,
|
|
(ParamFloat<px4::params::CA_ACT12_MIN>) _param_ca_act12_min,
|
|
(ParamFloat<px4::params::CA_ACT13_MIN>) _param_ca_act13_min,
|
|
(ParamFloat<px4::params::CA_ACT14_MIN>) _param_ca_act14_min,
|
|
(ParamFloat<px4::params::CA_ACT15_MIN>) _param_ca_act15_min,
|
|
(ParamFloat<px4::params::CA_ACT0_MAX>) _param_ca_act0_max,
|
|
(ParamFloat<px4::params::CA_ACT1_MAX>) _param_ca_act1_max,
|
|
(ParamFloat<px4::params::CA_ACT2_MAX>) _param_ca_act2_max,
|
|
(ParamFloat<px4::params::CA_ACT3_MAX>) _param_ca_act3_max,
|
|
(ParamFloat<px4::params::CA_ACT4_MAX>) _param_ca_act4_max,
|
|
(ParamFloat<px4::params::CA_ACT5_MAX>) _param_ca_act5_max,
|
|
(ParamFloat<px4::params::CA_ACT6_MAX>) _param_ca_act6_max,
|
|
(ParamFloat<px4::params::CA_ACT7_MAX>) _param_ca_act7_max,
|
|
(ParamFloat<px4::params::CA_ACT8_MAX>) _param_ca_act8_max,
|
|
(ParamFloat<px4::params::CA_ACT9_MAX>) _param_ca_act9_max,
|
|
(ParamFloat<px4::params::CA_ACT10_MAX>) _param_ca_act10_max,
|
|
(ParamFloat<px4::params::CA_ACT11_MAX>) _param_ca_act11_max,
|
|
(ParamFloat<px4::params::CA_ACT12_MAX>) _param_ca_act12_max,
|
|
(ParamFloat<px4::params::CA_ACT13_MAX>) _param_ca_act13_max,
|
|
(ParamFloat<px4::params::CA_ACT14_MAX>) _param_ca_act14_max,
|
|
(ParamFloat<px4::params::CA_ACT15_MAX>) _param_ca_act15_max
|
|
)
|
|
|
|
};
|