PX4-Autopilot/src/modules/spacecraft/module.yaml

__max_num_mc_motors: &max_num_mc_motors 12
__max_num_thrusters: &max_num_thrusters 12
__max_num_servos: &max_num_servos 8
__max_num_tilts: &max_num_tilts 4

module_name: Control Allocation

parameters:
    - group: Geometry
      definitions:
        CA_AIRFRAME:
            description:
                short: Airframe selection
                long: |
                  Defines which mixer implementation to use.
                  Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.

                  'Custom' should only be used if noting else can be used.
            type: enum
            values:
                0: Multirotor
                1: Fixed-wing
                2: Standard VTOL
                3: Tiltrotor VTOL
                4: Tailsitter VTOL
                5: Rover (Ackermann)
                6: Rover (Differential)
                7: Motors (6DOF)
                8: Multirotor with Tilt
                9: Custom
                10: Helicopter (tail ESC)
                11: Helicopter (tail Servo)
                12: Helicopter (Coaxial)
                13: Rover (Mecanum)
                14: Spacecraft 2D
                15: Spacecraft 3D
            default: 14

        CA_METHOD:
            description:
                short: Control allocation method
                long: |
                  Selects the algorithm and desaturation method.
                  If set to Automatic, the selection is based on the airframe (CA_AIRFRAME).
            type: enum
            values:
                0: Pseudo-inverse with output clipping
                1: Pseudo-inverse with metric allocation
                2: Automatic
            default: 1

        CA_R_REV:
            description:
                short: Bidirectional/Reversible motors
                long: |
                  Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.
            type: bitmask
            bit:
                0: Motor 1
                1: Motor 2
                2: Motor 3
                3: Motor 4
                4: Motor 5
                5: Motor 6
                6: Motor 7
                7: Motor 8
                8: Motor 9
                9: Motor 10
                10: Motor 11
                11: Motor 12
            default: 0

        # (SC) Thrusters
        CA_THRUSTER_CNT:
            description:
                short: Total number of thrusters
            type: enum
            values:
                0: '0'
                1: '1'
                2: '2'
                3: '3'
                4: '4'
                5: '5'
                6: '6'
                7: '7'
                8: '8'
                9: '9'
                10: '10'
                11: '11'
                12: '12'
            default: 0
        CA_THRUSTER${i}_PX:
            description:
                short: Position of thruster ${i} along X body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_thrusters
            min: -100
            max: 100
            default: 0.0
        CA_THRUSTER${i}_PY:
            description:
                short: Position of thruster ${i} along Y body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_thrusters
            min: -100
            max: 100
            default: 0.0
        CA_THRUSTER${i}_PZ:
            description:
                short: Position of thruster ${i} along Z body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_thrusters
            min: -100
            max: 100
            default: 0.0
        CA_THRUSTER${i}_AX:
            description:
                short: Axis of thruster ${i} thrust vector, X body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_thrusters
            min: -100
            max: 100
            default: 0.0
        CA_THRUSTER${i}_AY:
            description:
                short: Axis of thruster ${i} thrust vector, Y body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_thrusters
            min: -100
            max: 100
            default: 0.0
        CA_THRUSTER${i}_AZ:
            description:
                short: Axis of thruster ${i} thrust vector, Z body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_thrusters
            min: -100
            max: 100
            default: -1.0

        CA_THRUSTER${i}_CT:
            description:
                short: Thrust coefficient of rotor ${i}
                long: |
                  The thrust coefficient if defined as Thrust = CT * u^2,
                  where u (with value between actuator minimum and maximum)
                  is the output signal sent to the motor controller.
            type: float
            decimal: 1
            increment: 1
            num_instances: *max_num_thrusters
            min: 0
            max: 100
            default: 6.5

# Mixer
mixer:
    actuator_types:
        motor:
            functions: 'Motor'
            actuator_testing_values:
                min: 0
                max: 1
                default_is_nan: true
        DEFAULT:
            actuator_testing_values:
                min: -1
                max: 1
                default: -1

    config:
        param: CA_AIRFRAME
        types:
            14: # Spacecraft 2D
                title: 'Spacecraft 2D'
                actuators:
                  - actuator_type: 'motor'
                    count: 'CA_THRUSTER_CNT'  # count would be too long for 16 max size
                    per_item_parameters:
                        standard:
                            position: [ 'CA_THRUSTER${i}_PX', 'CA_THRUSTER${i}_PY', 'CA_THRUSTER${i}_PZ' ]
                        extra:
                          - name: 'CA_THRUSTER${i}_AX'
                            label: 'Axis X'
                            function: 'axisx'
                            advanced: true
                          - name: 'CA_THRUSTER${i}_AY'
                            label: 'Axis Y'
                            function: 'axisy'
                            advanced: true
                          - name: 'CA_THRUSTER${i}_AZ'
                            label: 'Axis Z'
                            function: 'axisz'
                            advanced: true

            15: # Sapcecraft 3D
                title: 'Spacecraft 3D'
                actuators:
                  - actuator_type: 'motor'
                    count: 'CA_THRUSTER_CNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_THRUSTER${i}_PX', 'CA_THRUSTER${i}_PY', 'CA_THRUSTER${i}_PZ' ]
                        extra:
                          - name: 'CA_THRUSTER${i}_AX'
                            label: 'Axis X'
                            function: 'axisx'
                            advanced: true
                          - name: 'CA_THRUSTER${i}_AY'
                            label: 'Axis Y'
                            function: 'axisy'
                            advanced: true
                          - name: 'CA_THRUSTER${i}_AZ'
                            label: 'Axis Z'
                            function: 'axisz'
                            advanced: true