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96 lines
3.7 KiB
C++
96 lines
3.7 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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/**
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* @file ActuatorEffectivenessStandardVTOL.hpp
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*
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* Actuator effectiveness for standard VTOL
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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 "ActuatorEffectiveness.hpp"
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#include "ActuatorEffectivenessRotors.hpp"
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#include "ActuatorEffectivenessControlSurfaces.hpp"
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#include <uORB/topics/normalized_unsigned_setpoint.h>
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class ActuatorEffectivenessStandardVTOL : public ModuleParams, public ActuatorEffectiveness
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{
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public:
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ActuatorEffectivenessStandardVTOL(ModuleParams *parent);
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virtual ~ActuatorEffectivenessStandardVTOL() = default;
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bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
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const char *name() const override { return "Standard VTOL"; }
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int numMatrices() const override { return 2; }
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void getDesiredAllocationMethod(AllocationMethod allocation_method_out[MAX_NUM_MATRICES]) const override
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{
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static_assert(MAX_NUM_MATRICES >= 2, "expecting at least 2 matrices");
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allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
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allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
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}
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void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
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{
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normalize[0] = true;
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normalize[1] = false;
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}
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void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
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void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
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ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
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void setFlightPhase(const FlightPhase &flight_phase) override;
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private:
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ActuatorEffectivenessRotors _rotors;
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ActuatorEffectivenessControlSurfaces _control_surfaces;
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uint32_t _upwards_motors_mask{};
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uint32_t _forwards_motors_mask{};
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int _first_control_surface_idx{0}; ///< applies to matrix 1
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uORB::Subscription _flaps_setpoint_sub{ORB_ID(flaps_setpoint)};
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uORB::Subscription _spoilers_setpoint_sub{ORB_ID(spoilers_setpoint)};
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};
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