ActuatorEffectiveness: add _collective_ keyword to controls for collective tilt to disinct from yaw tilt

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp

@@ -233,10 +233,11 @@ ActuatorEffectivenessRotors::computeEffectivenessMatrix(const Geometry &geometry
 	return num_actuators;
 }
 
-uint32_t ActuatorEffectivenessRotors::updateAxisFromTilts(const ActuatorEffectivenessTilts &tilts, float tilt_control)
+uint32_t ActuatorEffectivenessRotors::updateAxisFromTilts(const ActuatorEffectivenessTilts &tilts,
+		float collective_tilt_control)
 {
-	if (!PX4_ISFINITE(tilt_control)) {
-		tilt_control = -1.f;
+	if (!PX4_ISFINITE(collective_tilt_control)) {
+		collective_tilt_control = -1.f;
 	}
 
 	uint32_t nontilted_motors = 0;
@@ -250,8 +251,8 @@ uint32_t ActuatorEffectivenessRotors::updateAxisFromTilts(const ActuatorEffectiv
 		}
 
 		const ActuatorEffectivenessTilts::Params &tilt = tilts.config(tilt_index);
-		float tilt_angle = math::lerp(tilt.min_angle, tilt.max_angle, (tilt_control + 1.f) / 2.f);
-		float tilt_direction = math::radians((float)tilt.tilt_direction);
+		const float tilt_angle = math::lerp(tilt.min_angle, tilt.max_angle, (collective_tilt_control + 1.f) / 2.f);
+		const float tilt_direction = math::radians((float)tilt.tilt_direction);
 		_geometry.rotors[i].axis = tiltedAxis(tilt_angle, tilt_direction);
 	}
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp

@@ -54,7 +54,7 @@ bool
 ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &configuration,
 		EffectivenessUpdateReason external_update)
 {
-	if (!_combined_tilt_updated && external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
+	if (!_collective_tilt_updated && external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
 		return false;
 	}
 
@@ -66,9 +66,9 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config
 	// Update matrix with tilts in vertical position when update is triggered by a manual
 	// configuration (parameter) change. This is to make sure the normalization
 	// scales are tilt-invariant. Note: configuration updates are only possible when disarmed.
-	const float tilt_control_applied = (external_update == EffectivenessUpdateReason::CONFIGURATION_UPDATE) ? -1.f :
-					   _last_tilt_control;
-	_nontilted_motors = _mc_rotors.updateAxisFromTilts(_tilts, tilt_control_applied)
+	const float collective_tilt_control_applied = (external_update == EffectivenessUpdateReason::CONFIGURATION_UPDATE) ?
+			-1.f : _last_collective_tilt_control;
+	_nontilted_motors = _mc_rotors.updateAxisFromTilts(_tilts, collective_tilt_control_applied)
 			    << configuration.num_actuators[(int)ActuatorType::MOTORS];
 
 	const bool mc_rotors_added_successfully = _mc_rotors.addActuators(configuration);
@@ -86,7 +86,7 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config
 
 	// If it was an update coming from a config change, then make sure to update matrix in
 	// the next iteration again with the correct tilt (but without updating the normalization scale).
-	_combined_tilt_updated = (external_update == EffectivenessUpdateReason::CONFIGURATION_UPDATE);
+	_collective_tilt_updated = (external_update == EffectivenessUpdateReason::CONFIGURATION_UPDATE);
 
 	return (mc_rotors_added_successfully && surfaces_added_successfully && tilts_added_successfully);
 }
@@ -113,24 +113,24 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
 		actuator_controls_s actuator_controls_1;
 
 		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
-			float control_tilt = actuator_controls_1.control[actuator_controls_s::INDEX_COLLECTIVE_TILT] * 2.f - 1.f;
+			float control_collective_tilt = actuator_controls_1.control[actuator_controls_s::INDEX_COLLECTIVE_TILT] * 2.f - 1.f;
 
-			// set control_tilt to exactly -1 or 1 if close to these end points
-			control_tilt = control_tilt < -0.99f ? -1.f : control_tilt;
-			control_tilt = control_tilt > 0.99f ? 1.f : control_tilt;
+			// set control_collective_tilt to exactly -1 or 1 if close to these end points
+			control_collective_tilt = control_collective_tilt < -0.99f ? -1.f : control_collective_tilt;
+			control_collective_tilt = control_collective_tilt > 0.99f ? 1.f : control_collective_tilt;
 
-			// initialize _last_tilt_control
-			if (!PX4_ISFINITE(_last_tilt_control)) {
-				_last_tilt_control = control_tilt;
+			// initialize _last_collective_tilt_control
+			if (!PX4_ISFINITE(_last_collective_tilt_control)) {
+				_last_collective_tilt_control = control_collective_tilt;
 
-			} else if (fabsf(control_tilt - _last_tilt_control) > 0.01f) {
-				_combined_tilt_updated = true;
-				_last_tilt_control = control_tilt;
+			} else if (fabsf(control_collective_tilt - _last_collective_tilt_control) > 0.01f) {
+				_collective_tilt_updated = true;
+				_last_collective_tilt_control = control_collective_tilt;
 			}
 
 			for (int i = 0; i < _tilts.count(); ++i) {
 				if (_tilts.config(i).tilt_direction == ActuatorEffectivenessTilts::TiltDirection::TowardsFront) {
-					actuator_sp(i + _first_tilt_idx) += control_tilt;
+					actuator_sp(i + _first_tilt_idx) += control_collective_tilt;
 				}
 			}
 		}

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp

@@ -82,7 +82,7 @@ public:
 
 	uint32_t getStoppedMotors() const override { return _stopped_motors; }
 protected:
-	bool _combined_tilt_updated{true};
+	bool _collective_tilt_updated{true};
 	ActuatorEffectivenessRotors _mc_rotors;
 	ActuatorEffectivenessControlSurfaces _control_surfaces;
 	ActuatorEffectivenessTilts _tilts;
@@ -93,7 +93,7 @@ protected:
 	int _first_control_surface_idx{0}; ///< applies to matrix 1
 	int _first_tilt_idx{0}; ///< applies to matrix 0
 
-	float _last_tilt_control{NAN};
+	float _last_collective_tilt_control{NAN};
 
 	uORB::Subscription _actuator_controls_1_sub{ORB_ID(actuator_controls_1)};
 	uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};