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control_allocator: major refactoring & additions

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- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
This commit is contained in:
Beat Küng
2021-11-24 15:12:09 +01:00
committed by Daniel Agar
parent a81f11acdd
commit 70e46a194f
28 changed files with 1936 additions and 775 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
+13 -13
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@@ -14,19 +14,19 @@ param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
param set-default CA_MC_R_COUNT 4
param set-default CA_MC_R0_PX 0.1515
param set-default CA_MC_R0_PY 0.245
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.1515
param set-default CA_MC_R1_PY -0.1875
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.1515
param set-default CA_MC_R2_PY -0.245
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.1515
param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_KM -0.05
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
+19 -19
View File
@@ -30,26 +30,26 @@ param set-default MNT_MODE_IN 0
param set-default MAV_PROTO_VER 2
param set-default CA_AIRFRAME 0
param set-default CA_MC_R_COUNT 6
param set-default CA_ROTOR_COUNT 6
param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 1.0
param set-default CA_MC_R0_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -1.0
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.866025
param set-default CA_MC_R2_PY -0.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.866025
param set-default CA_MC_R3_PY 0.5
param set-default CA_MC_R3_KM 0.05
param set-default CA_MC_R4_PX 0.866025
param set-default CA_MC_R4_PY 0.5
param set-default CA_MC_R4_KM 0.05
param set-default CA_MC_R5_PX -0.866025
param set-default CA_MC_R5_PY -0.5
param set-default CA_MC_R5_KM -0.05
param set-default CA_ROTOR0_PX 0.0
param set-default CA_ROTOR0_PY 1.0
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX 0.0
param set-default CA_ROTOR1_PY -1.0
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.866025
param set-default CA_ROTOR2_PY -0.5
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.866025
param set-default CA_ROTOR3_PY 0.5
param set-default CA_ROTOR3_KM 0.05
param set-default CA_ROTOR4_PX 0.866025
param set-default CA_ROTOR4_PY 0.5
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR5_PX -0.866025
param set-default CA_ROTOR5_PY -0.5
param set-default CA_ROTOR5_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
+13 -13
View File
@@ -19,19 +19,19 @@ param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
param set-default CA_MC_R_COUNT 4
param set-default CA_MC_R0_PX 0.177
param set-default CA_MC_R0_PY 0.177
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.177
param set-default CA_MC_R1_PY -0.177
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.177
param set-default CA_MC_R2_PY -0.177
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.177
param set-default CA_MC_R3_PY 0.177
param set-default CA_MC_R3_KM -0.05
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.177
param set-default CA_ROTOR0_PY 0.177
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.177
param set-default CA_ROTOR1_PY -0.177
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.177
param set-default CA_ROTOR2_PY -0.177
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.177
param set-default CA_ROTOR3_PY 0.177
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
+19 -19
View File
@@ -15,31 +15,31 @@
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
param set-default CA_MC_R_COUNT 6
param set-default CA_ROTOR_COUNT 6
param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 0.275
param set-default CA_MC_R0_KM -0.05
param set-default CA_ROTOR0_PX 0.0
param set-default CA_ROTOR0_PY 0.275
param set-default CA_ROTOR0_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -0.275
param set-default CA_MC_R1_KM 0.05
param set-default CA_ROTOR1_PX 0.0
param set-default CA_ROTOR1_PY -0.275
param set-default CA_ROTOR1_KM 0.05
param set-default CA_MC_R2_PX 0.238
param set-default CA_MC_R2_PY -0.1375
param set-default CA_MC_R2_KM -0.05
param set-default CA_ROTOR2_PX 0.238
param set-default CA_ROTOR2_PY -0.1375
param set-default CA_ROTOR2_KM -0.05
param set-default CA_MC_R3_PX -0.238
param set-default CA_MC_R3_PY 0.1375
param set-default CA_MC_R3_KM 0.05
param set-default CA_ROTOR3_PX -0.238
param set-default CA_ROTOR3_PY 0.1375
param set-default CA_ROTOR3_KM 0.05
param set-default CA_MC_R4_PX 0.238
param set-default CA_MC_R4_PY 0.1375
param set-default CA_MC_R4_KM 0.05
param set-default CA_ROTOR4_PX 0.238
param set-default CA_ROTOR4_PY 0.1375
param set-default CA_ROTOR4_KM 0.05
param set-default CA_MC_R5_PX -0.238
param set-default CA_MC_R5_PY -0.1375
param set-default CA_MC_R5_KM -0.05
param set-default CA_ROTOR5_PX -0.238
param set-default CA_ROTOR5_PY -0.1375
param set-default CA_ROTOR5_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102