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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 16:20:35 +08:00
Balduin
c28d015d9c
Previously, the approach to modify collective tilt control was to send the corresponding tiltrotor_extra_control uOrb message from ControlAllocator, which then influences ActuatorEffectivenessTiltrotorVTOL with minimal changes. This was a bit hacky and introduced potentially conflicting uOrb messages. So, with this new approach we pass the same information via argument. Specifically, the class ActuatorEffectiveness now declares updateSetpoint with an extra argument, preflight_check_running. It is only used in ActuatorEffectivenessTiltrotorVTOL, but has to be included as a "dummy" in all other classes inheriting from ActuatorEffectiveness. The argument can be used to bypass the collective tilt/thrust setpoints, instead replacing them with values from public class member variables which can be set from outside just before calling updateSetpoints. Also, slight refactor in ControlAllocator by splitting up the functions related to the preflight check into smaller parts
116 lines
4.3 KiB
C++
116 lines
4.3 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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* 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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#include "ActuatorEffectivenessStandardVTOL.hpp"
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using namespace matrix;
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ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL(ModuleParams *parent)
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: ModuleParams(parent), _rotors(this), _control_surfaces(this)
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{
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}
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bool
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ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configuration,
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EffectivenessUpdateReason external_update)
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{
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if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
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return false;
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}
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// Motors
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configuration.selected_matrix = 0;
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_rotors.enablePropellerTorqueNonUpwards(false);
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const bool mc_rotors_added_successfully = _rotors.addActuators(configuration);
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_upwards_motors_mask = _rotors.getUpwardsMotors();
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_forwards_motors_mask = _rotors.getForwardsMotors();
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// Control Surfaces
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configuration.selected_matrix = 1;
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_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
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const bool surfaces_added_successfully = _control_surfaces.addActuators(configuration);
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return (mc_rotors_added_successfully && surfaces_added_successfully);
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}
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void ActuatorEffectivenessStandardVTOL::allocateAuxilaryControls(const float dt, int matrix_index,
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ActuatorVector &actuator_sp)
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{
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if (matrix_index == 1) {
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// apply flaps
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normalized_unsigned_setpoint_s flaps_setpoint;
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if (_flaps_setpoint_sub.copy(&flaps_setpoint)) {
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_control_surfaces.applyFlaps(flaps_setpoint.normalized_setpoint, _first_control_surface_idx, dt, actuator_sp);
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}
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// apply spoilers
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normalized_unsigned_setpoint_s spoilers_setpoint;
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if (_spoilers_setpoint_sub.copy(&spoilers_setpoint)) {
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_control_surfaces.applySpoilers(spoilers_setpoint.normalized_setpoint, _first_control_surface_idx, dt, actuator_sp);
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}
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}
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}
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void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max, bool preflight_check_running)
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{
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if (matrix_index == 0) {
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stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
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}
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}
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void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
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{
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if (_flight_phase == flight_phase) {
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return;
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}
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ActuatorEffectiveness::setFlightPhase(flight_phase);
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// update stopped motors
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switch (flight_phase) {
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case FlightPhase::FORWARD_FLIGHT:
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_stopped_motors_mask |= _upwards_motors_mask;
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break;
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case FlightPhase::HOVER_FLIGHT:
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case FlightPhase::TRANSITION_FF_TO_HF:
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case FlightPhase::TRANSITION_HF_TO_FF:
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_stopped_motors_mask &= ~_upwards_motors_mask;
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break;
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}
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}
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