mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 03:33:33 +08:00
Beat Küng
70e46a194f
- allow effectiveness matrix to select control allocator method (desaturation algorithm) - add actuator_servos publication - add support for multiple matrices (for vtol) - add updateSetpoint callback method to actuator effectiveness to allow it to manipulate the actuator setpoint after allocation - handle motor stopping & reversal - add control surfaces & tilt servos - handle standard vtol + tiltrotor - rename MC rotors params & class to be more generically usable - fixes and enables ActuatorEffectivenessRotorsTest
107 lines
3.8 KiB
C++
107 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 "ActuatorEffectivenessStandardVTOL.hpp"
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#include <ControlAllocation/ControlAllocation.hpp>
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using namespace matrix;
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ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL(ModuleParams *parent)
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: ModuleParams(parent), _mc_rotors(this), _control_surfaces(this)
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{
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}
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bool
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ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configuration, bool force)
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{
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if (!force) {
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return false;
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}
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// MC motors
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configuration.selected_matrix = 0;
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_mc_rotors.getEffectivenessMatrix(configuration, true);
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_mc_motors_mask = (1u << _mc_rotors.geometry().num_rotors) - 1;
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// Pusher/Puller
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configuration.selected_matrix = 1;
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for (int i = 0; i < _param_ca_stdvtol_n_p.get(); ++i) {
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configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{1.f, 0.f, 0.f});
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}
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// Control Surfaces
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configuration.selected_matrix = 1;
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_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
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_control_surfaces.getEffectivenessMatrix(configuration, true);
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return true;
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}
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void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp)
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{
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// apply flaps
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if (matrix_index == 1) {
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actuator_controls_s actuator_controls_1;
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if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
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float control_flaps = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
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float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
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_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
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}
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}
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}
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void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
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{
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if (_flight_phase == flight_phase) {
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return;
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}
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ActuatorEffectiveness::setFlightPhase(flight_phase);
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// update stopped motors
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switch (flight_phase) {
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case FlightPhase::FORWARD_FLIGHT:
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_stopped_motors = _mc_motors_mask;
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break;
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case FlightPhase::HOVER_FLIGHT:
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case FlightPhase::TRANSITION_FF_TO_HF:
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case FlightPhase::TRANSITION_HF_TO_FF:
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_stopped_motors = 0;
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break;
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}
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}
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