mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-13 01:30:34 +08:00
Silvan Fuhrer
1e56d9c219
- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES] - use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint and spoilers_setpoint) to pass into control allocation - remove flaps/spoiler related fields from attitude_setpoint topic - CA: add possibility to map flaps/spoilers to any control surface - move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER) - move manual flaps/spoiler handling from rate to attitude controller FW Position controller: change how negative switch readings are intepreted for flaps/spoilers (considered negative as 0). VTOL: Rework spoiler publishing in hover - pushlish spoiler_setpoint.msg in the VTOL module if in hover - also set spoilers to land configuration if in Descend mode Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller (which then only is applied in Auto flight), do it consistently over all flight modes, so also for manual modes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
115 lines
3.6 KiB
C++
115 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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* 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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#pragma once
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#include "ActuatorEffectiveness.hpp"
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#include <px4_platform_common/module_params.h>
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#include <lib/slew_rate/SlewRate.hpp>
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static constexpr float kFlapSlewRate = 0.5f; // slew rate for normalized flaps setpoint [1/s]
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static constexpr float kSpoilersSlewRate = 0.5f; // slew rate for normalized spoilers setpoint [1/s]
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class ActuatorEffectivenessControlSurfaces : public ModuleParams, public ActuatorEffectiveness
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{
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public:
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static constexpr int MAX_COUNT = 8;
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enum class Type : int32_t {
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// This matches with the parameter
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LeftAileron = 1,
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RightAileron = 2,
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Elevator = 3,
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Rudder = 4,
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LeftElevon = 5,
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RightElevon = 6,
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LeftVTail = 7,
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RightVTail = 8,
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LeftFlap = 9,
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RightFlap = 10,
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Airbrake = 11,
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Custom = 12,
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LeftATail = 13,
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RightATail = 14,
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SingleChannelAileron = 15,
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SteeringWheel = 16,
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LeftSpoiler = 17,
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RightSpoiler = 18,
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};
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struct Params {
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Type type;
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matrix::Vector3f torque;
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float trim;
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float scale_flap;
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float scale_spoiler;
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};
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ActuatorEffectivenessControlSurfaces(ModuleParams *parent);
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virtual ~ActuatorEffectivenessControlSurfaces() = default;
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bool addActuators(Configuration &configuration);
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const char *name() const override { return "Control Surfaces"; }
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int count() const { return _count; }
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const Params &config(int idx) const { return _params[idx]; }
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void applyFlaps(float flaps_control, int first_actuator_idx, float dt, ActuatorVector &actuator_sp);
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void applySpoilers(float spoilers_control, int first_actuator_idx, float dt, ActuatorVector &actuator_sp);
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private:
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void updateParams() override;
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struct ParamHandles {
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param_t type;
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param_t torque[3];
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param_t trim;
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param_t scale_flap;
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param_t scale_spoiler;
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};
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ParamHandles _param_handles[MAX_COUNT];
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param_t _count_handle;
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Params _params[MAX_COUNT] {};
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int _count{0};
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SlewRate<float> _flaps_setpoint_with_slewrate;
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SlewRate<float> _spoilers_setpoint_with_slewrate;
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};
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