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AP_Motors: Matrix: mixer simplification

This commit is contained in:
Iampete1 2023-02-07 18:26:06 +00:00 committed by Andrew Tridgell
parent e9da278164
commit 1a754904e9
2 changed files with 62 additions and 56 deletions
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98
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -200,32 +200,38 @@ uint32_t AP_MotorsMatrix::get_motor_mask()
return mask;
}
// helper to return value scaled between boost and normal based on the value of _thrust_boost_ratio
// _thrust_boost_ratio of 1 -> return = boost_value
// _thrust_boost_ratio of 0 -> return = normal_value
float AP_MotorsMatrix::boost_ratio(float boost_value, float normal_value) const
{
return _thrust_boost_ratio * boost_value + (1.0 - _thrust_boost_ratio) * normal_value;
}
// output_armed - sends commands to the motors
// includes new scaling stability patch
void AP_MotorsMatrix::output_armed_stabilizing()
{
uint8_t i; // general purpose counter
float roll_thrust; // roll thrust input value, +/- 1.0
float pitch_thrust; // pitch thrust input value, +/- 1.0
float yaw_thrust; // yaw thrust input value, +/- 1.0
float throttle_thrust; // throttle thrust input value, 0.0 - 1.0
float throttle_avg_max; // throttle thrust average maximum value, 0.0 - 1.0
float throttle_thrust_max; // throttle thrust maximum value, 0.0 - 1.0
float throttle_thrust_best_rpy; // throttle providing maximum roll, pitch and yaw range without climbing
float rpy_scale = 1.0f; // this is used to scale the roll, pitch and yaw to fit within the motor limits
float yaw_allowed = 1.0f; // amount of yaw we can fit in
float thr_adj; // the difference between the pilot's desired throttle and throttle_thrust_best_rpy
// apply voltage and air pressure compensation
const float compensation_gain = get_compensation_gain(); // compensation for battery voltage and altitude
roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain;
throttle_thrust = get_throttle() * compensation_gain;
throttle_avg_max = _throttle_avg_max * compensation_gain;
// If thrust boost is active then do not limit maximum thrust
throttle_thrust_max = _thrust_boost_ratio + (1.0f - _thrust_boost_ratio) * _throttle_thrust_max * compensation_gain;
// pitch thrust input value, +/- 1.0
const float roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
// pitch thrust input value, +/- 1.0
const float pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
// yaw thrust input value, +/- 1.0
float yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain;
// throttle thrust input value, 0.0 - 1.0
float throttle_thrust = get_throttle() * compensation_gain;
// throttle thrust average maximum value, 0.0 - 1.0
float throttle_avg_max = _throttle_avg_max * compensation_gain;
// throttle thrust maximum value, 0.0 - 1.0, If thrust boost is active then do not limit maximum thrust
const float throttle_thrust_max = boost_ratio(1.0, _throttle_thrust_max * compensation_gain);
// sanity check throttle is above zero and below current limited throttle
if (throttle_thrust <= 0.0f) {
@ -240,8 +246,9 @@ void AP_MotorsMatrix::output_armed_stabilizing()
// ensure that throttle_avg_max is between the input throttle and the maximum throttle
throttle_avg_max = constrain_float(throttle_avg_max, throttle_thrust, throttle_thrust_max);
// throttle providing maximum roll, pitch and yaw range
// calculate the highest allowed average thrust that will provide maximum control range
throttle_thrust_best_rpy = MIN(0.5f, throttle_avg_max);
float throttle_thrust_best_rpy = MIN(0.5f, throttle_avg_max);
// calculate throttle that gives most possible room for yaw which is the lower of:
// 1. 0.5f - (rpy_low+rpy_high)/2.0 - this would give the maximum possible margin above the highest motor and below the lowest
@ -266,29 +273,26 @@ void AP_MotorsMatrix::output_armed_stabilizing()
// calculate amount of yaw we can fit into the throttle range
// this is always equal to or less than the requested yaw from the pilot or rate controller
float rp_low = 1.0f; // lowest thrust value
float rp_high = -1.0f; // highest thrust value
for (i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
float yaw_allowed = 1.0f; // amount of yaw we can fit in
for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
// calculate the thrust outputs for roll and pitch
_thrust_rpyt_out[i] = roll_thrust * _roll_factor[i] + pitch_thrust * _pitch_factor[i];
// record lowest roll + pitch command
if (_thrust_rpyt_out[i] < rp_low) {
rp_low = _thrust_rpyt_out[i];
}
// record highest roll + pitch command
if (_thrust_rpyt_out[i] > rp_high && (!_thrust_boost || i != _motor_lost_index)) {
rp_high = _thrust_rpyt_out[i];
}
// Check the maximum yaw control that can be used on this channel
// Exclude any lost motors if thrust boost is enabled
if (!is_zero(_yaw_factor[i]) && (!_thrust_boost || i != _motor_lost_index)) {
const float thrust_rp_best_throttle = throttle_thrust_best_rpy + _thrust_rpyt_out[i];
float motor_room;
if (is_positive(yaw_thrust * _yaw_factor[i])) {
yaw_allowed = MIN(yaw_allowed, fabsf(MAX(1.0f - (throttle_thrust_best_rpy + _thrust_rpyt_out[i]), 0.0f)/_yaw_factor[i]));
// room to upper limit
motor_room = 1.0 - thrust_rp_best_throttle;
} else {
yaw_allowed = MIN(yaw_allowed, fabsf(MAX(throttle_thrust_best_rpy + _thrust_rpyt_out[i], 0.0f)/_yaw_factor[i]));
// room to lower limit
motor_room = thrust_rp_best_throttle;
}
const float motor_yaw_allowed = MAX(motor_room, 0.0)/fabsf(_yaw_factor[i]);
yaw_allowed = MIN(yaw_allowed, motor_yaw_allowed);
}
}
}
@ -298,26 +302,25 @@ void AP_MotorsMatrix::output_armed_stabilizing()
float yaw_allowed_min = (float)_yaw_headroom * 0.001f;
// increase yaw headroom to 50% if thrust boost enabled
yaw_allowed_min = _thrust_boost_ratio * 0.5f + (1.0f - _thrust_boost_ratio) * yaw_allowed_min;
yaw_allowed_min = boost_ratio(0.5, yaw_allowed_min);
// Let yaw access minimum amount of head room
yaw_allowed = MAX(yaw_allowed, yaw_allowed_min);
// Include the lost motor scaled by _thrust_boost_ratio to smoothly transition this motor in and out of the calculation
if (_thrust_boost && motor_enabled[_motor_lost_index]) {
// record highest roll + pitch command
if (_thrust_rpyt_out[_motor_lost_index] > rp_high) {
rp_high = _thrust_boost_ratio * rp_high + (1.0f - _thrust_boost_ratio) * _thrust_rpyt_out[_motor_lost_index];
}
// Check the maximum yaw control that can be used on this channel
// Exclude any lost motors if thrust boost is enabled
if (!is_zero(_yaw_factor[_motor_lost_index])){
const float thrust_rp_best_throttle = throttle_thrust_best_rpy + _thrust_rpyt_out[_motor_lost_index];
float motor_room;
if (is_positive(yaw_thrust * _yaw_factor[_motor_lost_index])) {
yaw_allowed = _thrust_boost_ratio * yaw_allowed + (1.0f - _thrust_boost_ratio) * MIN(yaw_allowed, fabsf(MAX(1.0f - (throttle_thrust_best_rpy + _thrust_rpyt_out[_motor_lost_index]), 0.0f)/_yaw_factor[_motor_lost_index]));
motor_room = 1.0 - thrust_rp_best_throttle;
} else {
yaw_allowed = _thrust_boost_ratio * yaw_allowed + (1.0f - _thrust_boost_ratio) * MIN(yaw_allowed, fabsf(MAX(throttle_thrust_best_rpy + _thrust_rpyt_out[_motor_lost_index], 0.0f)/_yaw_factor[_motor_lost_index]));
motor_room = thrust_rp_best_throttle;
}
const float motor_yaw_allowed = MAX(motor_room, 0.0)/fabsf(_yaw_factor[_motor_lost_index]);
yaw_allowed = boost_ratio(yaw_allowed, MIN(yaw_allowed, motor_yaw_allowed));
}
}
@ -330,7 +333,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
// add yaw control to thrust outputs
float rpy_low = 1.0f; // lowest thrust value
float rpy_high = -1.0f; // highest thrust value
for (i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
_thrust_rpyt_out[i] = _thrust_rpyt_out[i] + yaw_thrust * _yaw_factor[i];
@ -349,11 +352,12 @@ void AP_MotorsMatrix::output_armed_stabilizing()
if (_thrust_boost) {
// record highest roll + pitch + yaw command
if (_thrust_rpyt_out[_motor_lost_index] > rpy_high && motor_enabled[_motor_lost_index]) {
rpy_high = _thrust_boost_ratio * rpy_high + (1.0f - _thrust_boost_ratio) * _thrust_rpyt_out[_motor_lost_index];
rpy_high = boost_ratio(rpy_high, _thrust_rpyt_out[_motor_lost_index]);
}
}
// calculate any scaling needed to make the combined thrust outputs fit within the output range
float rpy_scale = 1.0f;
if (rpy_high - rpy_low > 1.0f) {
rpy_scale = 1.0f / (rpy_high - rpy_low);
}
@ -365,7 +369,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
rpy_high *= rpy_scale;
rpy_low *= rpy_scale;
throttle_thrust_best_rpy = -rpy_low;
thr_adj = throttle_thrust - throttle_thrust_best_rpy;
float thr_adj = throttle_thrust - throttle_thrust_best_rpy;
if (rpy_scale < 1.0f) {
// Full range is being used by roll, pitch, and yaw.
limit.roll = true;
@ -375,8 +379,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
limit.throttle_upper = true;
}
thr_adj = 0.0f;
} else {
if (thr_adj < 0.0f) {
} else if (thr_adj < 0.0f) {
// Throttle can't be reduced to desired value
// todo: add lower limit flag and ensure it is handled correctly in altitude controller
thr_adj = 0.0f;
@ -385,11 +388,10 @@ void AP_MotorsMatrix::output_armed_stabilizing()
thr_adj = 1.0f - (throttle_thrust_best_rpy + rpy_high);
limit.throttle_upper = true;
}
}
// add scaled roll, pitch, constrained yaw and throttle for each motor
const float throttle_thrust_best_plus_adj = throttle_thrust_best_rpy + thr_adj;
for (i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
_thrust_rpyt_out[i] = (throttle_thrust_best_plus_adj * _throttle_factor[i]) + (rpy_scale * _thrust_rpyt_out[i]);
}

4
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -156,6 +156,10 @@ protected:
const char* _frame_type_string = ""; // string representation of frame type
private:
// helper to return value scaled between boost and normal based on the value of _thrust_boost_ratio
float boost_ratio(float boost_value, float normal_value) const;
// setup motors matrix
bool setup_quad_matrix(motor_frame_type frame_type);
bool setup_hexa_matrix(motor_frame_type frame_type);