delete SYS_CTRL_ALLOC

Tools/module_config/generate_actuators_metadata.py

@@ -195,7 +195,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             else:
                 raise Exception('unknown generator {:}'.format(group['generator']))
             continue
-        
+
         subgroup = {}
 
         # supported actions
@@ -442,7 +442,7 @@ def get_mixers(yaml_config, output_functions, verbose):
 
     if verbose:
         print('Mixer rules: {}'.format(rules))
-    
+
     mixers = {
             'actuator-types': actuator_types,
             'config': config,
@@ -482,7 +482,6 @@ if mixers is None:
 
 actuators = {
     'version': 1,
-    'show-ui-if': 'SYS_CTRL_ALLOC==1',
     'outputs_v1': outputs,
     'functions_v1': functions,
     'mixer_v1': mixers,

Tools/module_config/generate_params.py

@@ -216,20 +216,6 @@ def get_actuator_output_params(yaml_config, output_functions,
                 all_params.update(timer_params)
                 output_groups.extend(timer_output_groups)
 
-                # In case of a board w/o IO and >8 PWM channels, pwm_out splits
-                # into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
-                # PWM_AUX min/max/disarmed params as well.
-                num_channels = len(timer_groups['types'])
-                if not board_with_io and num_channels > 8:
-                    output_groups.append(
-                        {
-                            'param_prefix': 'PWM_AUX',
-                            'channel_label': 'PWM AUX',
-                            'instance_start': 1,
-                            'num_channels': num_channels - 8,
-                            'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
-                        })
-
             else:
                 raise Exception('unknown generator {:}'.format(group['generator']))
             continue

boards/cuav/nora/init/rc.board_defaults

@@ -12,8 +12,5 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
 
-# Set Camera trigger pins to 13/14
-param set-default TRIG_PINS_EX 12288
-
 rgbled_pwm start
 safety_button start

boards/cuav/x7pro/init/rc.board_defaults

@@ -14,9 +14,5 @@ param set-default SENS_EN_THERMAL 1
 
 param set-default SENS_TEMP_ID 6946850
 
-# Set Camera trigger pins to 13/14
-param set-default TRIG_PINS_EX 12288
-
-
 rgbled_pwm start
 safety_button start

msg/actuator_test.msg

@@ -1,7 +1,6 @@
 uint64 timestamp				# time since system start (microseconds)
 
 # Topic to test individual actuator output functions
-# Note: this is only used with SYS_CTRL_ALLOC=1
 
 uint8 ACTION_RELEASE_CONTROL = 0	# exit test mode for the given function
 uint8 ACTION_DO_CONTROL = 1			# enable actuator test mode

src/drivers/camera_capture/camera_capture.cpp

@@ -71,28 +71,18 @@ CameraCapture::CameraCapture() :
 	_p_camera_capture_edge = param_find("CAM_CAP_EDGE");
 	param_get(_p_camera_capture_edge, &_camera_capture_edge);
 
-
 	// get the capture channel from function configuration params
-	param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
+	_capture_channel = -1;
-	int32_t ctrl_alloc = 0;
 
-	if (p_ctrl_alloc != PARAM_INVALID) {
+	for (unsigned i = 0; i < 16 && _capture_channel == -1; ++i) {
-		param_get(p_ctrl_alloc, &ctrl_alloc);
+		char param_name[17];
-	}
+		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
+		param_t function_handle = param_find(param_name);
+		int32_t function;
 
-	if (ctrl_alloc == 1) {
+		if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) {
-		_capture_channel = -1;
+			if (function == 2032) { // Camera_Capture
-
+				_capture_channel = i;
-		for (unsigned i = 0; i < 16 && _capture_channel == -1; ++i) {
-			char param_name[17];
-			snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
-			param_t function_handle = param_find(param_name);
-			int32_t function;
-
-			if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) {
-				if (function == 2032) { // Camera_Capture
-					_capture_channel = i;
-				}
 			}
 		}
 	}

src/drivers/camera_trigger/camera_trigger_params.c

@@ -127,44 +127,6 @@ PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 40.0f);
  */
 PARAM_DEFINE_INT32(TRIG_MODE, 0);
 
-/**
- * Camera trigger pin
- *
- * Selects which FMU pin is used (range: AUX1-AUX8 on Pixhawk controllers with an I/O board,
- * MAIN1-MAIN8 on controllers without an I/O board).
- *
- * The PWM interface takes two pins per camera, while relay
- * triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.
- * For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will
- * be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61.
- * In GPIO mode the delay pin to pin is < .2 uS.
- *
- * @min 1
- * @max 12345678
- * @decimal 0
- * @reboot_required true
- * @group Camera trigger
- */
-PARAM_DEFINE_INT32(TRIG_PINS, 56);
-
-/**
- * Camera trigger pin extended
- *
- * This Bit mask selects which FMU pin is used (range: AUX9-AUX32)
- * If the value is not 0 it takes precedence over TRIG_PINS.
- *
- * If bits above 8 are set that value is used as the selector for trigger pins.
- * greater then 8. 0x00000300 Would be Pins 9,10. If the value is
- *
- *
- * @min 0
- * @max 2147483647
- * @decimal 0
- * @reboot_required true
- * @group Camera trigger
- */
-PARAM_DEFINE_INT32(TRIG_PINS_EX, 0);
-
 /**
  * Camera trigger distance
  *

src/drivers/camera_trigger/interfaces/src/camera_interface.cpp

@@ -42,79 +42,17 @@ void CameraInterface::get_pins()
 		_pins[i] = -1;
 	}
 
-	param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
+	unsigned pin_index = 0;
-	int32_t ctrl_alloc = 0;
 
-	if (p_ctrl_alloc != PARAM_INVALID) {
+	for (unsigned i = 0; i < 16 && pin_index < arraySize(_pins); ++i) {
-		param_get(p_ctrl_alloc, &ctrl_alloc);
+		char param_name[17];
-	}
+		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
+		param_t function_handle = param_find(param_name);
+		int32_t function;
 
-	if (ctrl_alloc == 1) {
+		if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) {
-
+			if (function == 2000) { // Camera_Trigger
-		unsigned pin_index = 0;
+				_pins[pin_index++] = i;
-
-		for (unsigned i = 0; i < 16 && pin_index < arraySize(_pins); ++i) {
-			char param_name[17];
-			snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
-			param_t function_handle = param_find(param_name);
-			int32_t function;
-
-			if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) {
-				if (function == 2000) { // Camera_Trigger
-					_pins[pin_index++] = i;
-				}
-			}
-		}
-
-	} else {
-		// Get parameter handle
-		param_t p_pin = param_find("TRIG_PINS");
-		param_t p_pin_ex = param_find("TRIG_PINS_EX");
-
-		if (p_pin == PARAM_INVALID && p_pin_ex == PARAM_INVALID) {
-			PX4_ERR("param TRIG_PINS not found");
-			return;
-		}
-
-		int32_t pin_list = 0;
-		int32_t pin_list_ex = 0;
-
-		if (p_pin_ex != PARAM_INVALID) {
-			param_get(p_pin_ex, &pin_list_ex);
-		}
-
-		if (p_pin != PARAM_INVALID) {
-			param_get(p_pin, &pin_list);
-		}
-
-		if (pin_list_ex == 0) {
-
-			// Convert number to individual channels
-
-			unsigned i = 0;
-			int single_pin;
-
-			while ((single_pin = pin_list % 10)) {
-
-				_pins[i] = single_pin - 1;
-
-				if (_pins[i] < 0) {
-					_pins[i] = -1;
-				}
-
-				pin_list /= 10;
-				i++;
-			}
-
-		} else {
-			unsigned int p = 0;
-
-			for (unsigned int i = 0; i < arraySize(_pins); i++) {
-				int32_t v = (pin_list_ex & (1 << i)) ? i  : -1;
-
-				if (v > 0) {
-					_pins[p++] = v;
-				}
 			}
 		}
 	}

src/drivers/pps_capture/PPSCapture.cpp

@@ -63,25 +63,15 @@ bool PPSCapture::init()
 {
 	bool success = false;
 
-	param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
+	for (unsigned i = 0; i < 16; ++i) {
-	int32_t ctrl_alloc = 0;
+		char param_name[17];
+		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
+		param_t function_handle = param_find(param_name);
+		int32_t function;
 
-	if (p_ctrl_alloc != PARAM_INVALID) {
+		if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) {
-		param_get(p_ctrl_alloc, &ctrl_alloc);
+			if (function == 2064) { // PPS_Input
-	}
+				_channel = i;
-
-	if (ctrl_alloc == 1) {
-
-		for (unsigned i = 0; i < 16; ++i) {
-			char param_name[17];
-			snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
-			param_t function_handle = param_find(param_name);
-			int32_t function;
-
-			if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) {
-				if (function == 2064) { // PPS_Input
-					_channel = i;
-				}
 			}
 		}
 	}

src/lib/mixer_module/mixer_module.hpp

@@ -277,7 +277,6 @@ private:
 
 	perf_counter_t _control_latency_perf;
 
-	/* SYS_CTRL_ALLOC == 1 */
 	FunctionProviderBase *_function_allocated[MAX_ACTUATORS] {}; ///< unique allocated functions
 	FunctionProviderBase *_functions[MAX_ACTUATORS] {}; ///< currently assigned functions
 	OutputFunction _function_assignment[MAX_ACTUATORS] {};
@@ -296,8 +295,6 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,   ///< multicopter air-mode
 		(ParamFloat<px4::params::MOT_SLEW_MAX>) _param_mot_slew_max,
-		(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to motor control signal modelling factor
+		(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac ///< thrust to motor control signal modelling factor
-		(ParamBool<px4::params::SYS_CTRL_ALLOC>) _param_sys_ctrl_alloc
-
 	)
 };

src/lib/mixer_module/mixer_module_tests.cpp

@@ -63,9 +63,6 @@ public:
 	void SetUp() override
 	{
 		param_control_autosave(false);
-
-		int32_t v = 1;
-		param_set(param_find("SYS_CTRL_ALLOC"), &v);
 	}
 
 	int update(MixingOutput &mixing_output)

src/lib/systemlib/system_params.c

@@ -280,17 +280,3 @@ PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
-
-
-/**
- * Enable Dynamic Control Allocation
- *
- * If disabled, the existing mixing implementation is used.
- * If enabled, dynamic control allocation with runtime configuration of the
- * mixing and output functions is used.
- *
- * @boolean
- * @reboot_required true
- * @group System
- */
-PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 1);

src/modules/logger/logged_topics.cpp

@@ -208,19 +208,12 @@ void LoggedTopics::add_default_topics()
 	//add_optional_topic("vehicle_optical_flow_vel", 100);
 	add_optional_topic("pps_capture");
 
-	// SYS_CTRL_ALLOC: additional dynamic control allocation logging when enabled
+	// additional control allocation logging
-	int32_t sys_ctrl_alloc = 0;
+	add_topic("actuator_motors", 100);
-	param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
+	add_topic("actuator_servos", 100);
-
+	add_topic("vehicle_angular_acceleration", 20);
-	_dynamic_control_allocation = sys_ctrl_alloc >= 1;
+	add_topic_multi("vehicle_thrust_setpoint", 20, 1);
-
+	add_topic_multi("vehicle_torque_setpoint", 20, 2);
-	if (_dynamic_control_allocation) {
-		add_topic("actuator_motors", 100);
-		add_topic("actuator_servos", 100);
-		add_topic("vehicle_angular_acceleration", 20);
-		add_topic_multi("vehicle_thrust_setpoint", 20, 1);
-		add_topic_multi("vehicle_torque_setpoint", 20, 2);
-	}
 
 	// SYS_HITL: default ground truth logging for simulation
 	int32_t sys_hitl = 0;
@@ -294,15 +287,9 @@ void LoggedTopics::add_high_rate_topics()
 	add_topic("vehicle_attitude_setpoint");
 	add_topic("vehicle_rates_setpoint");
 
-	if (_dynamic_control_allocation) {
+	add_topic("actuator_motors");
-		add_topic("actuator_motors");
+	add_topic("vehicle_thrust_setpoint");
-		add_topic("vehicle_thrust_setpoint");
+	add_topic("vehicle_torque_setpoint");
-		add_topic("vehicle_torque_setpoint");
-
-	} else {
-		add_topic("actuator_controls_0");
-		add_topic("actuator_outputs");
-	}
 }
 
 void LoggedTopics::add_debug_topics()

src/modules/logger/logged_topics.h

@@ -185,8 +185,6 @@ private:
 	RequestedSubscriptionArray _subscriptions;
 	int _num_mission_subs{0};
 	float _rate_factor{1.0f};
-
-	bool _dynamic_control_allocation{false};
 };
 
 } //namespace logger

src/modules/simulation/simulator_sih/sih.cpp

@@ -82,9 +82,7 @@ void Sih::run()
 	_vehicle = (VehicleType)constrain(_sih_vtype.get(), static_cast<typeof _sih_vtype.get()>(0),
 					  static_cast<typeof _sih_vtype.get()>(2));
 
-	if (_sys_ctrl_alloc.get()) {
+	_actuator_out_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
-		_actuator_out_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
-	}
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	lockstep_loop();
@@ -369,32 +367,16 @@ void Sih::read_motors()
 {
 	actuator_outputs_s actuators_out;
 
-	float pwm_middle = 0.5f * (PWM_DEFAULT_MIN + PWM_DEFAULT_MAX);
-
 	if (_actuator_out_sub.update(&actuators_out)) {
 		_last_actuator_output_time = actuators_out.timestamp;
 
-		if (_sys_ctrl_alloc.get()) {
+		for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
-			for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
+			if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS && i > 3)) {
-				if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS && i > 3)) {
+				_u[i] = actuators_out.output[i];
-					_u[i] = actuators_out.output[i];
 
-				} else {
+			} else {
-					float u_sp = actuators_out.output[i];
+				float u_sp = actuators_out.output[i];
-					_u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau
+				_u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau
-				}
-			}
-
-		} else {
-			for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
-				if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS
-						&& i > 3)) { // control surfaces in range [-1,1]
-					_u[i] = constrain(2.0f * (actuators_out.output[i] - pwm_middle) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), -1.0f, 1.0f);
-
-				} else { // throttle signals in range [0,1]
-					float u_sp = constrain((actuators_out.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), 0.0f, 1.0f);
-					_u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau
-				}
 			}
 		}
 	}

src/modules/simulation/simulator_sih/sih.hpp

@@ -327,7 +327,6 @@ private:
 		(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _sih_distance_snsr_max,
 		(ParamFloat<px4::params::SIH_DISTSNSR_OVR>) _sih_distance_snsr_override,
 		(ParamFloat<px4::params::SIH_T_TAU>) _sih_thrust_tau,
-		(ParamInt<px4::params::SIH_VEHICLE_TYPE>) _sih_vtype,
+		(ParamInt<px4::params::SIH_VEHICLE_TYPE>) _sih_vtype
-		(ParamBool<px4::params::SYS_CTRL_ALLOC>) _sys_ctrl_alloc
 	)
 };

src/systemcmds/actuator_test/actuator_test.cpp

@@ -73,8 +73,6 @@ static void usage(const char *reason)
 		R"DESCR_STR(
 Utility to test actuators.
 
-Note: this is only used in combination with SYS_CTRL_ALLOC=1.
-
 WARNING: remove all props before using this command.
 )DESCR_STR");