Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-22 22:32:11 +08:00
Code Issues Actions 9 Packages Projects Releases Wiki Activity

control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults

Browse Source
This commit is contained in:
Beat Küng
2021-11-02 16:24:58 +01:00
committed by Daniel Agar
parent dbc889a2ae
commit f99c2617ad
10 changed files with 152 additions and 588 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
-1
View File
@@ -19,7 +19,6 @@ param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
-1
View File
@@ -37,7 +37,6 @@ param set-default VM_INERTIA_YY 0.06
param set-default VM_INERTIA_ZZ 0.10
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
-1
View File
@@ -25,7 +25,6 @@ param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
-1
View File
@@ -21,7 +21,6 @@ param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
+5 -3
View File
@@ -127,6 +127,8 @@ ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NU
geometry.rotors[7].thrust_coef = _param_ca_mc_r7_ct.get();
geometry.rotors[7].moment_ratio = _param_ca_mc_r7_km.get();
geometry.num_rotors = _param_ca_mc_r_count.get();
_num_actuators = computeEffectivenessMatrix(geometry, matrix);
return true;
}
@@ -142,7 +144,7 @@ ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(const MultirotorGeom
effectiveness.setZero();
for (size_t i = 0; i < NUM_ROTORS_MAX; i++) {
for (int i = 0; i < math::min(NUM_ROTORS_MAX, geometry.num_rotors); i++) {
// Get rotor axis
matrix::Vector3f axis(
@@ -188,9 +190,9 @@ ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(const MultirotorGeom
effectiveness(j, i) = moment(j);
effectiveness(j + 3, i) = thrust(j);
}
num_actuators = i + 1;
}
num_actuators = geometry.num_rotors;
return num_actuators;
}
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
+8 -5
View File
@@ -57,7 +57,7 @@ public:
static constexpr int NUM_ROTORS_MAX = 8;
typedef struct {
struct RotorGeometry {
float position_x;
float position_y;
float position_z;
@@ -66,11 +66,12 @@ public:
float axis_z;
float thrust_coef;
float moment_ratio;
} RotorGeometry;
};
typedef struct {
struct MultirotorGeometry {
RotorGeometry rotors[NUM_ROTORS_MAX];
} MultirotorGeometry;
int num_rotors{0};
};
static int computeEffectivenessMatrix(const MultirotorGeometry &geometry,
matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness);
@@ -153,6 +154,8 @@ private:
(ParamFloat<px4::params::CA_MC_R7_AY>) _param_ca_mc_r7_ay,
(ParamFloat<px4::params::CA_MC_R7_AZ>) _param_ca_mc_r7_az,
(ParamFloat<px4::params::CA_MC_R7_CT>) _param_ca_mc_r7_ct,
(ParamFloat<px4::params::CA_MC_R7_KM>) _param_ca_mc_r7_km
(ParamFloat<px4::params::CA_MC_R7_KM>) _param_ca_mc_r7_km,
(ParamInt<px4::params::CA_MC_R_COUNT>) _param_ca_mc_r_count
)
};
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotorParams.c
-560
View File
File diff suppressed because it is too large Load Diff
src/modules/control_allocator/CMakeLists.txt
+2
View File
@@ -43,6 +43,8 @@ px4_add_module(
SRCS
ControlAllocator.cpp
ControlAllocator.hpp
MODULE_CONFIG
module.yaml
DEPENDS
mathlib
ActuatorEffectiveness
src/modules/control_allocator/control_allocator_params.c
+2 -16
View File
@@ -40,30 +40,16 @@
*/
/**
* Airframe ID
*
* This is used to retrieve pre-computed control effectiveness matrix
*
* @min 0
* @max 2
* @value 0 Multirotor
* @value 1 Standard VTOL (WIP)
* @value 2 Tiltrotor VTOL (WIP)
* @group Control Allocation
*/
PARAM_DEFINE_INT32(CA_AIRFRAME, 0);
/**
* Control allocation method
*
* @value 0 Pseudo-inverse with output clipping (default)
* @value 0 Pseudo-inverse with output clipping
* @value 1 Pseudo-inverse with sequential desaturation technique
* @min 0
* @max 1
* @group Control Allocation
*/
PARAM_DEFINE_INT32(CA_METHOD, 0);
PARAM_DEFINE_INT32(CA_METHOD, 1);
/**
* Battery power level scaler
src/modules/control_allocator/module.yaml
+135
View File
@@ -0,0 +1,135 @@
__max_num_mc_motors: &max_num_mc_motors 8
module_name: Control Allocation
parameters:
- group: Control Allocation
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.
type: enum
values:
0: Multirotor
1: Standard VTOL (WIP)
2: Tiltrotor VTOL (WIP)
default: 0
# MC rotors
CA_MC_R_COUNT:
description:
short: Total number of rotors
type: enum
values:
0: 0 Motors
1: 1 Motor
2: 2 Motors
3: 3 Motors
4: 4 Motors
5: 5 Motors
6: 6 Motors
7: 7 Motors
8: 8 Motors
default: 0
CA_MC_R${i}_PX:
description:
short: Position of rotor ${i} along X body axis
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_MC_R${i}_PY:
description:
short: Position of rotor ${i} along Y body axis
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_MC_R${i}_PZ:
description:
short: Position of rotor ${i} along Z body axis
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_MC_R${i}_AX:
description:
short: Axis of rotor ${i} thrust vector, X body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_MC_R${i}_AY:
description:
short: Axis of rotor ${i} thrust vector, Y body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_MC_R${i}_AZ:
description:
short: Axis of rotor ${i} thrust vector, Z body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: -1.0
CA_MC_R${i}_CT:
description:
short: Thrust coefficient of rotor ${i}
long: |
The thrust coefficient if defined as Thrust = CT * u^2,
where u (with value between actuator minimum and maximum)
is the output signal sent to the motor controller.
type: float
decimal: 1
increment: 1
num_instances: *max_num_mc_motors
min: 0
max: 100
default: 6.5
CA_MC_R${i}_KM:
description:
short: Moment coefficient of rotor ${i}
long: |
The moment coefficient if defined as Torque = KM * Thrust.
Use a positive value for a rotor with CCW rotation.
Use a negative value for a rotor with CW rotation.
type: float
decimal: 3
increment: 0.01
num_instances: *max_num_mc_motors
min: -1
max: 1
default: 0.05