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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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343cf5603e
- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>
315 lines
6.5 KiB
C
315 lines
6.5 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2019 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 control_allocator_params.c
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*
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* Parameters for the control allocator.
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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/**
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* Airframe ID
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*
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* This is used to retrieve pre-computed control effectiveness matrix
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*
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* @min 0
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* @max 2
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* @value 0 Multirotor
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* @value 1 Standard VTOL (WIP)
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* @value 2 Tiltrotor VTOL (WIP)
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* @group Control Allocation
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*/
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PARAM_DEFINE_INT32(CA_AIRFRAME, 0);
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/**
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* Control allocation method
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*
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* @value 0 Pseudo-inverse with output clipping (default)
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* @value 1 Pseudo-inverse with sequential desaturation technique
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* @min 0
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* @max 1
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* @group Control Allocation
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*/
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PARAM_DEFINE_INT32(CA_METHOD, 0);
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/**
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* Battery power level scaler
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*
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* This compensates for voltage drop of the battery over time by attempting to
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* normalize performance across the operating range of the battery. The copter
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* should constantly behave as if it was fully charged with reduced max acceleration
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* at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,
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* it will still be 0.5 at 60% battery.
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*
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* @boolean
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* @group Control Allocation
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*/
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PARAM_DEFINE_INT32(CA_BAT_SCALE_EN, 0);
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/**
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* Airspeed scaler
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*
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* This compensates for the variation of flap effectiveness with airspeed.
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*
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* @boolean
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* @group Control Allocation
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*/
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PARAM_DEFINE_INT32(CA_AIR_SCALE_EN, 0);
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/**
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* Minimum value for actuator 0
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT0_MIN, 0.0);
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/**
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* Minimum value for actuator 1
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT1_MIN, 0.0);
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/**
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* Minimum value for actuator 2
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT2_MIN, 0.0);
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/**
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* Minimum value for actuator 3
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT3_MIN, 0.0);
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/**
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* Minimum value for actuator 4
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT4_MIN, 0.0);
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/**
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* Minimum value for actuator 5
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT5_MIN, 0.0);
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/**
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* Minimum value for actuator 6
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT6_MIN, 0.0);
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/**
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* Minimum value for actuator 7
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT7_MIN, 0.0);
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/**
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* Minimum value for actuator 8
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT8_MIN, 0.0);
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/**
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* Minimum value for actuator 9
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT9_MIN, 0.0);
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/**
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* Minimum value for actuator 10
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT10_MIN, 0.0);
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/**
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* Minimum value for actuator 11
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT11_MIN, 0.0);
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/**
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* Minimum value for actuator 12
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT12_MIN, 0.0);
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/**
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* Minimum value for actuator 13
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT13_MIN, 0.0);
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/**
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* Minimum value for actuator 14
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT14_MIN, 0.0);
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/**
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* Minimum value for actuator 15
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT15_MIN, 0.0);
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/**
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* Maximum value for actuator 0
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT0_MAX, 0.0);
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/**
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* Maximum value for actuator 1
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT1_MAX, 0.0);
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/**
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* Maximum value for actuator 2
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT2_MAX, 0.0);
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/**
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* Maximum value for actuator 3
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT3_MAX, 0.0);
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/**
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* Maximum value for actuator 4
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT4_MAX, 0.0);
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/**
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* Maximum value for actuator 5
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT5_MAX, 0.0);
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/**
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* Maximum value for actuator 6
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT6_MAX, 0.0);
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/**
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* Maximum value for actuator 7
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT7_MAX, 0.0);
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/**
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* Maximum value for actuator 8
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT8_MAX, 0.0);
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/**
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* Maximum value for actuator 9
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT9_MAX, 0.0);
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/**
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* Maximum value for actuator 10
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT10_MAX, 0.0);
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/**
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* Maximum value for actuator 11
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT11_MAX, 0.0);
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/**
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* Maximum value for actuator 12
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT12_MAX, 0.0);
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/**
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* Maximum value for actuator 13
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT13_MAX, 0.0);
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/**
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* Maximum value for actuator 14
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT14_MAX, 0.0);
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/**
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* Maximum value for actuator 15
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*
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* @group Control Allocation
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*/
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PARAM_DEFINE_FLOAT(CA_ACT15_MAX, 0.0);
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