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control_allocator: add mixer metadata

This commit is contained in:
Beat Küng 2021-11-05 11:49:11 +01:00 committed by Daniel Agar
parent 282d35bbf0
commit 4346ac4a37
1 changed files with 60 additions and 0 deletions
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60
src/modules/control_allocator/module.yaml
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@ -133,3 +133,63 @@ parameters:
max: 1
default: 0.05
# Mixer
mixer:
actuator_types:
motor:
functions: 'Motor'
actuator_testing_values:
min: 0
max: 1
default_is_nan: true
servo:
functions: 'Servo'
actuator_testing_values:
min: -1
max: 1
default: 0
DEFAULT:
actuator_testing_values:
min: -1
max: 1
default: -1
config:
param: CA_AIRFRAME
types:
0: # Multirotor
type: "multirotor"
actuators:
- actuator_type: 'motor'
count: 'CA_MC_R_COUNT'
per_item_parameters:
standard:
position: [ 'CA_MC_R${i}_PX', 'CA_MC_R${i}_PY', 'CA_MC_R${i}_PZ' ]
extra:
- name: 'CA_MC_R${i}_KM'
label: 'Direction CCW'
function: 'spin-dir'
show_as: 'true-if-positive'
2: # Tiltrotor VTOL example
actuators:
- actuator_type: 'motor'
instances:
- name: 'Front Left Motor'
position: [ 0.3, -0.3, 0 ]
- name: 'Front Right Motor'
position: [ 0.3, 0.3, 0 ]
- name: 'Rear Motor'
position: [ -0.75, 0.3, 0 ]
- actuator_type: 'servo'
instances:
- name: 'Front Left Tilt'
position: [ 0.3, -0.3, 0 ]
- name: 'Front Right Tilt'
position: [ 0.3, 0.3, 0 ]
- name: 'Left Elevon'
position: [ 0, -0.3, 0 ]
- name: 'Right Elevon'
position: [ 0, 0.3, 0 ]