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initial control allocation support

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- 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>
This commit is contained in:
Julien Lecoeur
2021-01-10 11:30:23 -05:00
committed by Daniel Agar
parent fc6b61dad1
commit 343cf5603e
68 changed files with 6129 additions and 17 deletions
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msg/actuator_controls.msg
+4 -1
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@@ -1,6 +1,6 @@
uint64 timestamp # time since system start (microseconds)
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 6
uint8 INDEX_ROLL = 0
uint8 INDEX_PITCH = 1
uint8 INDEX_YAW = 2
@@ -16,10 +16,13 @@ uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint8 GROUP_INDEX_GIMBAL = 2
uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3
uint8 GROUP_INDEX_ALLOCATED_PART1 = 4
uint8 GROUP_INDEX_ALLOCATED_PART2 = 5
uint8 GROUP_INDEX_PAYLOAD = 6
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
# TOPICS actuator_controls_4 actuator_controls_5
# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc