mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-12 20:30:35 +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>
95 lines
3.6 KiB
C++
95 lines
3.6 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 setFlightPhase(const FlightPhase &flight_phase) override;
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uint32_t getStoppedMotors() const override { return _stopped_motors; }
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private:
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ActuatorEffectivenessRotors _rotors;
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ActuatorEffectivenessControlSurfaces _control_surfaces;
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uint32_t _mc_motors_mask{}; ///< mc motors (stopped during forward flight)
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uint32_t _stopped_motors{}; ///< currently stopped motors
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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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