forked from Archive/PX4-Autopilot
control_allocator: handle saturation flags for helicopters
This commit is contained in:
parent
aa8d594e9b
commit
4087c27e84
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@ -44,6 +44,7 @@
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#include <cstdint>
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#include <matrix/matrix/math.hpp>
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#include <uORB/topics/control_allocator_status.h>
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enum class AllocationMethod {
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NONE = -1,
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@ -189,13 +190,20 @@ public:
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* @param actuator_sp input & output setpoint
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*/
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virtual void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp) {}
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) {}
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/**
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* Get a bitmask of motors to be stopped
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*/
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virtual uint32_t getStoppedMotors() const { return 0; }
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/**
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* Fill in the allocated and unallocated torque and thrust.
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* Should return false if not filled in and the effectivenes matrix should be used instead
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*/
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virtual bool getAllocatedAndUnallocatedControl(control_allocator_status_s &status) const { return false; }
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protected:
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FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT}; ///< Current flight phase
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};
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@ -62,7 +62,8 @@ ActuatorEffectivenessFixedWing::getEffectivenessMatrix(Configuration &configurat
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}
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void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp)
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
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{
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// apply flaps
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actuator_controls_s actuator_controls_0;
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@ -50,7 +50,8 @@ public:
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const char *name() const override { return "Fixed Wing"; }
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void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
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ActuatorVector &actuator_sp) override;
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ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
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private:
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ActuatorEffectivenessRotors _rotors;
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@ -128,8 +128,11 @@ ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configura
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}
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void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp)
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
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{
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_saturation_flags = {};
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// throttle/collective pitch curve
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const float throttle = math::interpolateN(-control_sp(ControlAxis::THRUST_Z),
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_geometry.throttle_curve) * throttleSpoolupProgress();
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@ -142,13 +145,31 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
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+ fabsf(collective_pitch) * _geometry.yaw_collective_pitch_scale
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+ throttle * _geometry.yaw_throttle_scale;
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// Saturation check for yaw
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if (actuator_sp(1) < actuator_min(1)) {
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setSaturationFlag(_geometry.yaw_sign, _saturation_flags.yaw_neg, _saturation_flags.yaw_pos);
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} else if (actuator_sp(1) > actuator_max(1)) {
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setSaturationFlag(_geometry.yaw_sign, _saturation_flags.yaw_pos, _saturation_flags.yaw_neg);
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}
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for (int i = 0; i < _geometry.num_swash_plate_servos; i++) {
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float roll_coeff = sinf(_geometry.swash_plate_servos[i].angle) * _geometry.swash_plate_servos[i].arm_length;
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float pitch_coeff = cosf(_geometry.swash_plate_servos[i].angle) * _geometry.swash_plate_servos[i].arm_length;
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actuator_sp(_first_swash_plate_servo_index + i) = collective_pitch
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+ control_sp(ControlAxis::PITCH) * cosf(_geometry.swash_plate_servos[i].angle) *
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_geometry.swash_plate_servos[i].arm_length
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- control_sp(ControlAxis::ROLL) * sinf(_geometry.swash_plate_servos[i].angle) *
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_geometry.swash_plate_servos[i].arm_length
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+ control_sp(ControlAxis::PITCH) * pitch_coeff
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- control_sp(ControlAxis::ROLL) * roll_coeff
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+ _geometry.swash_plate_servos[i].trim;
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// Saturation check for roll & pitch
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if (actuator_sp(_first_swash_plate_servo_index + i) < actuator_min(_first_swash_plate_servo_index + i)) {
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setSaturationFlag(roll_coeff, _saturation_flags.roll_pos, _saturation_flags.roll_neg);
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setSaturationFlag(pitch_coeff, _saturation_flags.pitch_neg, _saturation_flags.pitch_pos);
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} else if (actuator_sp(_first_swash_plate_servo_index + i) > actuator_max(_first_swash_plate_servo_index + i)) {
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setSaturationFlag(roll_coeff, _saturation_flags.roll_neg, _saturation_flags.roll_pos);
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setSaturationFlag(pitch_coeff, _saturation_flags.pitch_pos, _saturation_flags.pitch_neg);
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}
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}
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}
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@ -182,3 +203,62 @@ float ActuatorEffectivenessHelicopter::throttleSpoolupProgress()
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return 1.f;
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}
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void ActuatorEffectivenessHelicopter::setSaturationFlag(float coeff, bool &positive_flag, bool &negative_flag)
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{
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if (coeff > 0.f) {
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// A positive change in given axis will increase saturation
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positive_flag = true;
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} else if (coeff < 0.f) {
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// A negative change in given axis will increase saturation
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negative_flag = true;
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}
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}
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bool ActuatorEffectivenessHelicopter::getAllocatedAndUnallocatedControl(control_allocator_status_s &status) const
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{
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status.torque_setpoint_achieved = true;
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status.thrust_setpoint_achieved = true;
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// Note: the values '-1', '1' and '0' are just to indicate a negative,
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// positive or no saturation to the rate controller. The actual magnitude is not used.
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if (_saturation_flags.roll_pos) {
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status.unallocated_torque[0] = 1.f;
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status.torque_setpoint_achieved = false;
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} else if (_saturation_flags.roll_neg) {
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status.unallocated_torque[0] = -1.f;
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status.torque_setpoint_achieved = false;
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}
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if (_saturation_flags.pitch_pos) {
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status.unallocated_torque[1] = 1.f;
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status.torque_setpoint_achieved = false;
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} else if (_saturation_flags.pitch_neg) {
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status.unallocated_torque[1] = -1.f;
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status.torque_setpoint_achieved = false;
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}
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if (_saturation_flags.yaw_pos) {
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status.unallocated_torque[2] = 1.f;
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status.torque_setpoint_achieved = false;
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} else if (_saturation_flags.yaw_neg) {
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status.unallocated_torque[2] = -1.f;
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status.torque_setpoint_achieved = false;
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}
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if (_saturation_flags.thrust_pos) {
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status.unallocated_thrust[2] = 1.f;
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status.thrust_setpoint_achieved = false;
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} else if (_saturation_flags.thrust_neg) {
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status.unallocated_thrust[2] = -1.f;
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status.thrust_setpoint_achieved = false;
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}
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return true;
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}
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@ -76,13 +76,28 @@ public:
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const Geometry &geometry() const { return _geometry; }
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void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
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ActuatorVector &actuator_sp) override;
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ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
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bool getAllocatedAndUnallocatedControl(control_allocator_status_s &status) const override;
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private:
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float throttleSpoolupProgress();
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bool mainMotorEnaged();
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void updateParams() override;
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struct SaturationFlags {
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bool roll_pos;
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bool roll_neg;
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bool pitch_pos;
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bool pitch_neg;
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bool yaw_pos;
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bool yaw_neg;
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bool thrust_pos;
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bool thrust_neg;
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};
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static void setSaturationFlag(float coeff, bool &positive_flag, bool &negative_flag);
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struct ParamHandlesSwashPlate {
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param_t angle;
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param_t arm_length;
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@ -103,6 +118,7 @@ private:
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Geometry _geometry{};
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int _first_swash_plate_servo_index{};
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SaturationFlags _saturation_flags;
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// Throttle spoolup state
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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@ -60,48 +60,52 @@ TEST(ActuatorEffectivenessHelicopterTest, ThrottleCurve)
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Vector<float, 6> control_sp{};
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ActuatorEffectiveness::ActuatorVector actuator_sp{};
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ActuatorEffectiveness::ActuatorVector actuator_min{};
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actuator_min.setAll(0.f);
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ActuatorEffectiveness::ActuatorVector actuator_max{};
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actuator_max.setAll(1.f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = 0.1f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), 0.f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = 0.f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), 0.f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.125f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), .15f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.25f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), .3f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.375f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), .45f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.5f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), .6f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.625f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), .7f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.75f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), .8f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.875f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), .9f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -1.f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), 1.f);
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control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -1.1f;
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helicopter.updateSetpoint(control_sp, 0, actuator_sp);
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helicopter.updateSetpoint(control_sp, 0, actuator_sp, actuator_min, actuator_max);
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EXPECT_FLOAT_EQ(actuator_sp(0), 1.f);
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}
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@ -77,7 +77,8 @@ ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration
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}
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void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp)
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
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{
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actuator_sp += _tilt_offsets;
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// TODO: dynamic matrix update
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@ -56,7 +56,8 @@ public:
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}
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void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
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ActuatorVector &actuator_sp) override;
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ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
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const char *name() const override { return "MC Tilt"; }
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@ -64,7 +64,8 @@ ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configu
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}
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void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp)
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
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{
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// apply flaps
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if (matrix_index == 1) {
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@ -73,7 +73,8 @@ public:
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}
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void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
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ActuatorVector &actuator_sp) override;
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ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
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void setFlightPhase(const FlightPhase &flight_phase) override;
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@ -92,7 +92,8 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config
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}
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void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
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int matrix_index, ActuatorVector &actuator_sp)
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int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
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{
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// apply flaps
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if (matrix_index == 1) {
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void setFlightPhase(const FlightPhase &flight_phase) override;
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void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
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ActuatorVector &actuator_sp) override;
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ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
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const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
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const char *name() const override { return "VTOL Tiltrotor"; }
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@ -416,7 +416,8 @@ ControlAllocator::Run()
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// Do allocation
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_control_allocation[i]->allocate();
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_actuator_effectiveness->updateSetpoint(c[i], i, _control_allocation[i]->_actuator_sp);
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_actuator_effectiveness->updateSetpoint(c[i], i, _control_allocation[i]->_actuator_sp,
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_control_allocation[i]->getActuatorMin(), _control_allocation[i]->getActuatorMax());
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if (_has_slew_rate) {
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_control_allocation[i]->applySlewRateLimit(dt);
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@ -585,30 +586,33 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
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// TODO: disabled motors (?)
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// Allocated control
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const matrix::Vector<float, NUM_AXES> &allocated_control = _control_allocation[matrix_index]->getAllocatedControl();
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control_allocator_status.allocated_torque[0] = allocated_control(0);
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control_allocator_status.allocated_torque[1] = allocated_control(1);
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control_allocator_status.allocated_torque[2] = allocated_control(2);
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control_allocator_status.allocated_thrust[0] = allocated_control(3);
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control_allocator_status.allocated_thrust[1] = allocated_control(4);
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control_allocator_status.allocated_thrust[2] = allocated_control(5);
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if (!_actuator_effectiveness->getAllocatedAndUnallocatedControl(control_allocator_status)) {
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// Allocated control
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const matrix::Vector<float, NUM_AXES> &allocated_control = _control_allocation[matrix_index]->getAllocatedControl();
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control_allocator_status.allocated_torque[0] = allocated_control(0);
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control_allocator_status.allocated_torque[1] = allocated_control(1);
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control_allocator_status.allocated_torque[2] = allocated_control(2);
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control_allocator_status.allocated_thrust[0] = allocated_control(3);
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control_allocator_status.allocated_thrust[1] = allocated_control(4);
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control_allocator_status.allocated_thrust[2] = allocated_control(5);
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// Unallocated control
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const matrix::Vector<float, NUM_AXES> unallocated_control = _control_allocation[matrix_index]->getControlSetpoint() -
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allocated_control;
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control_allocator_status.unallocated_torque[0] = unallocated_control(0);
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control_allocator_status.unallocated_torque[1] = unallocated_control(1);
|
||||
control_allocator_status.unallocated_torque[2] = unallocated_control(2);
|
||||
control_allocator_status.unallocated_thrust[0] = unallocated_control(3);
|
||||
control_allocator_status.unallocated_thrust[1] = unallocated_control(4);
|
||||
control_allocator_status.unallocated_thrust[2] = unallocated_control(5);
|
||||
// Unallocated control
|
||||
const matrix::Vector<float, NUM_AXES> unallocated_control = _control_allocation[matrix_index]->getControlSetpoint() -
|
||||
allocated_control;
|
||||
control_allocator_status.unallocated_torque[0] = unallocated_control(0);
|
||||
control_allocator_status.unallocated_torque[1] = unallocated_control(1);
|
||||
control_allocator_status.unallocated_torque[2] = unallocated_control(2);
|
||||
control_allocator_status.unallocated_thrust[0] = unallocated_control(3);
|
||||
control_allocator_status.unallocated_thrust[1] = unallocated_control(4);
|
||||
control_allocator_status.unallocated_thrust[2] = unallocated_control(5);
|
||||
|
||||
// Allocation success flags
|
||||
control_allocator_status.torque_setpoint_achieved = (Vector3f(unallocated_control(0), unallocated_control(1),
|
||||
unallocated_control(2)).norm_squared() < 1e-6f);
|
||||
control_allocator_status.thrust_setpoint_achieved = (Vector3f(unallocated_control(3), unallocated_control(4),
|
||||
unallocated_control(5)).norm_squared() < 1e-6f);
|
||||
}
|
||||
|
||||
// Allocation success flags
|
||||
control_allocator_status.torque_setpoint_achieved = (Vector3f(unallocated_control(0), unallocated_control(1),
|
||||
unallocated_control(2)).norm_squared() < 1e-6f);
|
||||
control_allocator_status.thrust_setpoint_achieved = (Vector3f(unallocated_control(3), unallocated_control(4),
|
||||
unallocated_control(5)).norm_squared() < 1e-6f);
|
||||
|
||||
// Actuator saturation
|
||||
const matrix::Vector<float, NUM_ACTUATORS> &actuator_sp = _control_allocation[matrix_index]->getActuatorSetpoint();
|
||||
|
|
Loading…
Reference in New Issue