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feat: airframe config for spacecraft (#25287)

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Pedro Roque
2025-07-24 22:07:56 +02:00
committed by GitHub
parent 23ad974f30
commit be2e0b8990
1 changed files with 42 additions and 0 deletions
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src/modules/control_allocator/module.yaml
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@@ -1205,3 +1205,45 @@ mixer:
position: [ -1, 1, 0 ] position: [ -1, 1, 0 ]
- name: 'Left Motor Back' - name: 'Left Motor Back'
position: [ -1, -1, 0 ] position: [ -1, -1, 0 ]
14: # Spacecraft 2D
actuators:
- actuator_type: 'motor'
group_label: 'Thrust/Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- name: 'CA_ROTOR${i}_CT'
label: "Thrust\nCoefficient"
15: # Spacecraft 3D
actuators:
- actuator_type: 'motor'
group_label: 'Thrust/Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- name: 'CA_ROTOR${i}_CT'
label: "Thrust\nCoefficient"