mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 11:28:52 +08:00
Beat Küng
76d8d8cae6
This adds the pusher/puller to the standard motors and makes the axis configurable.
85 lines
3.4 KiB
C++
85 lines
3.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include "ActuatorEffectivenessMCTilt.hpp"
|
|
|
|
using namespace matrix;
|
|
|
|
ActuatorEffectivenessMCTilt::ActuatorEffectivenessMCTilt(ModuleParams *parent)
|
|
: ModuleParams(parent),
|
|
_mc_rotors(this, ActuatorEffectivenessRotors::AxisConfiguration::FixedUpwards, true),
|
|
_tilts(this)
|
|
{
|
|
}
|
|
|
|
bool
|
|
ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration,
|
|
EffectivenessUpdateReason external_update)
|
|
{
|
|
if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
|
|
return false;
|
|
}
|
|
|
|
// MC motors
|
|
_mc_rotors.enablePropellerTorque(!_tilts.hasYawControl());
|
|
const bool rotors_added_successfully = _mc_rotors.addActuators(configuration);
|
|
|
|
// Tilts
|
|
int first_tilt_idx = configuration.num_actuators_matrix[0];
|
|
_tilts.updateTorqueSign(_mc_rotors.geometry());
|
|
const bool tilts_added_successfully = _tilts.addActuators(configuration);
|
|
|
|
// Set offset such that tilts point upwards when control input == 0 (trim is 0 if min_angle == -max_angle).
|
|
// Note that we don't set configuration.trim here, because in the case of trim == +-1, yaw is always saturated
|
|
// and reduced to 0 with the sequential desaturation method. Instead we add it after.
|
|
_tilt_offsets.setZero();
|
|
|
|
for (int i = 0; i < _tilts.count(); ++i) {
|
|
float delta_angle = _tilts.config(i).max_angle - _tilts.config(i).min_angle;
|
|
|
|
if (delta_angle > FLT_EPSILON) {
|
|
float trim = -1.f - 2.f * _tilts.config(i).min_angle / delta_angle;
|
|
_tilt_offsets(first_tilt_idx + i) = trim;
|
|
}
|
|
}
|
|
|
|
return (rotors_added_successfully && tilts_added_successfully);
|
|
}
|
|
|
|
void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
|
|
int matrix_index, ActuatorVector &actuator_sp)
|
|
{
|
|
actuator_sp += _tilt_offsets;
|
|
// TODO: dynamic matrix update
|
|
}
|