mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
af3cfaea25
So transitions between stopped/not stopped respect the slew rate. - Remove previous stopped motor handling in publish_actuator_controls - Replace with handle_stopped_motors, called in Run() before slew - Introduce ApplyNanToActuators in ControlAllocation to stop - Refactor ice shedding slightly to fit new structure
238 lines
8.4 KiB
C++
238 lines
8.4 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 ControlAllocator.hpp
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*
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* 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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#pragma once
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#include <ActuatorEffectiveness.hpp>
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#include <ActuatorEffectivenessMultirotor.hpp>
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#include <ActuatorEffectivenessStandardVTOL.hpp>
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#include <ActuatorEffectivenessTiltrotorVTOL.hpp>
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#include <ActuatorEffectivenessTailsitterVTOL.hpp>
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#include <ActuatorEffectivenessRoverAckermann.hpp>
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#include <ActuatorEffectivenessFixedWing.hpp>
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#include <ActuatorEffectivenessMCTilt.hpp>
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#include <ActuatorEffectivenessCustom.hpp>
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#include <ActuatorEffectivenessUUV.hpp>
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#include <ActuatorEffectivenessHelicopter.hpp>
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#include <ActuatorEffectivenessHelicopterCoaxial.hpp>
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#include <ActuatorEffectivenessSpacecraft.hpp>
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#include <ControlAllocation.hpp>
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#include <ControlAllocationPseudoInverse.hpp>
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#include <ControlAllocationSequentialDesaturation.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_motors.h>
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#include <uORB/topics/actuator_servos.h>
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#include <uORB/topics/actuator_servos_trim.h>
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#include <uORB/topics/control_allocator_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_torque_setpoint.h>
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#include <uORB/topics/vehicle_thrust_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/failure_detector_status.h>
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class ControlAllocator : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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static Descriptor desc;
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static constexpr int NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;
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static constexpr int NUM_AXES = ControlAllocation::NUM_AXES;
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static constexpr int MAX_NUM_MOTORS = actuator_motors_s::NUM_CONTROLS;
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static constexpr int MAX_NUM_SERVOS = actuator_servos_s::NUM_CONTROLS;
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static constexpr float ICE_SHEDDING_ON_SEC = 2.0f;
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static constexpr float ICE_SHEDDING_OUTPUT = 0.01f;
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using ActuatorVector = ActuatorEffectiveness::ActuatorVector;
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ControlAllocator();
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virtual ~ControlAllocator();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::print_status() */
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int print_status() override;
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void Run() override;
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bool init();
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private:
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struct ParamHandles {
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param_t slew_rate_motors[MAX_NUM_MOTORS];
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param_t slew_rate_servos[MAX_NUM_SERVOS];
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};
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struct Params {
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float slew_rate_motors[MAX_NUM_MOTORS];
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float slew_rate_servos[MAX_NUM_SERVOS];
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};
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/**
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* initialize some vectors/matrices from parameters
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*/
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void parameters_updated();
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void update_allocation_method(bool force);
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bool update_effectiveness_source();
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void update_effectiveness_matrix_if_needed(EffectivenessUpdateReason reason);
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void check_for_motor_failures();
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void publish_control_allocator_status(int matrix_index);
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void publish_actuator_controls();
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void handle_stopped_motors(const hrt_abstime now);
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float get_ice_shedding_output(hrt_abstime now);
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AllocationMethod _allocation_method_id{AllocationMethod::NONE};
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ControlAllocation *_control_allocation[ActuatorEffectiveness::MAX_NUM_MATRICES] {}; ///< class for control allocation calculations
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int _num_control_allocation{0};
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hrt_abstime _last_effectiveness_update{0};
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enum class EffectivenessSource {
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NONE = -1,
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MULTIROTOR = 0,
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FIXED_WING = 1,
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STANDARD_VTOL = 2,
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TILTROTOR_VTOL = 3,
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TAILSITTER_VTOL = 4,
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ROVER_ACKERMANN = 5,
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ROVER_DIFFERENTIAL = 6,
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MOTORS_6DOF = 7,
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MULTIROTOR_WITH_TILT = 8,
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CUSTOM = 9,
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HELICOPTER_TAIL_ESC = 10,
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HELICOPTER_TAIL_SERVO = 11,
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HELICOPTER_COAXIAL = 12,
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SPACECRAFT_2D = 13,
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SPACECRAFT_3D = 14,
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};
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enum class FailureMode {
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IGNORE = 0,
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REMOVE_FIRST_FAILING_MOTOR = 1,
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};
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EffectivenessSource _effectiveness_source_id{EffectivenessSource::NONE};
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ActuatorEffectiveness *_actuator_effectiveness{nullptr}; ///< class providing actuator effectiveness
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uint8_t _control_allocation_selection_indexes[NUM_ACTUATORS * ActuatorEffectiveness::MAX_NUM_MATRICES] {};
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int _num_actuators[(int)ActuatorType::COUNT] {};
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// Inputs
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uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)}; /**< vehicle torque setpoint subscription */
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uORB::Subscription _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */
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uORB::Subscription _vehicle_torque_setpoint1_sub{ORB_ID(vehicle_torque_setpoint), 1}; /**< vehicle torque setpoint subscription (2. instance) */
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uORB::Subscription _vehicle_thrust_setpoint1_sub{ORB_ID(vehicle_thrust_setpoint), 1}; /**< vehicle thrust setpoint subscription (2. instance) */
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// Outputs
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uORB::PublicationMulti<control_allocator_status_s> _control_allocator_status_pub[2] {ORB_ID(control_allocator_status), ORB_ID(control_allocator_status)};
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uORB::Publication<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
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uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
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uORB::Publication<actuator_servos_trim_s> _actuator_servos_trim_pub{ORB_ID(actuator_servos_trim)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)};
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matrix::Vector3f _torque_sp;
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matrix::Vector3f _thrust_sp;
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bool _publish_controls{true};
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// Reflects motor failures that are currently handled, not motor failures that are reported.
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// For example, the system might report two motor failures, but only the first one is handled by CA
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uint16_t _handled_motor_failure_bitmask{0};
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uint16_t _motor_stop_mask{0};
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perf_counter_t _loop_perf; /**< loop duration performance counter */
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bool _armed{false};
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bool _is_vtol{false};
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hrt_abstime _last_run{0};
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hrt_abstime _timestamp_sample{0};
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hrt_abstime _last_status_pub{0};
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ParamHandles _param_handles{};
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Params _params{};
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bool _has_slew_rate{false};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe,
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(ParamInt<px4::params::CA_METHOD>) _param_ca_method,
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(ParamInt<px4::params::CA_FAILURE_MODE>) _param_ca_failure_mode,
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(ParamInt<px4::params::CA_R_REV>) _param_r_rev,
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(ParamFloat<px4::params::CA_ICE_PERIOD>) _param_ice_shedding_period
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)
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};
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