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control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets

This commit is contained in:
Beat Küng 2021-09-10 16:06:05 +02:00 committed by Daniel Agar
parent 0c5a79d84d
commit a51c465b54
13 changed files with 56 additions and 42 deletions
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3
ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
View File

@ -8,7 +8,8 @@
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
param set-default SYS_CTRL_ALLOC 1
param set-default MPC_USE_HTE 0

3
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
View File

@ -6,7 +6,8 @@
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
param set-default SYS_CTRL_ALLOC 1
param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400

1
ROMFS/px4fmu_common/init.d/CMakeLists.txt
View File

@ -55,5 +55,4 @@ px4_add_romfs_files(
rc.vehicle_setup
rc.vtol_apps
rc.vtol_defaults
rc.ctrlalloc
)

3
ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
View File

@ -11,10 +11,11 @@
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
set MIXER none
param set-default SYS_CTRL_ALLOC 1
param set-default MPC_USE_HTE 0
param set-default VM_MASS 1.5

2
ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
View File

@ -11,8 +11,8 @@
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
param set-default SYS_CTRL_ALLOC 1
param set-default MPC_USE_HTE 0
param set-default VM_MASS 1.5

26
ROMFS/px4fmu_common/init.d/rc.ctrlalloc
View File

@ -1,26 +0,0 @@
#!/bin/sh
#
# Standard apps for new control allocation and controllers
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start angular velocity controller
#
# angular_velocity_controller start
# mc_rate_control stop
#
# Start Control Allocator
#
control_allocator start
#
# Disable hover thrust estimator and prearming
# These features are currently incompatible with control allocation
#
# TODO: fix
#
param set MPC_USE_HTE 0
param set COM_PREARM_MODE 0

17
ROMFS/px4fmu_common/init.d/rc.mc_apps
View File

@ -48,6 +48,23 @@ fi
# End Estimator Group Selection #
###############################################################################
if param compare SYS_CTRL_ALLOC 1
then
#
# Start Control Allocator
#
control_allocator start
#
# Disable hover thrust estimator and prearming
# These features are currently incompatible with control allocation
#
# TODO: fix
#
param set MPC_USE_HTE 0
param set COM_PREARM_MODE 0
fi
#
# Start Multicopter Rate Controller.
#

1
boards/px4/fmu-v5/ctrlalloc.px4board
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@ -1 +0,0 @@
CONFIG_MODULES_CONTROL_ALLOCATOR=y

1
boards/px4/fmu-v5/default.px4board
View File

@ -48,6 +48,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=y

1
boards/px4/sitl/ctrlalloc.px4board
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@ -1 +0,0 @@
CONFIG_MODULES_CONTROL_ALLOCATOR=y

1
boards/px4/sitl/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y

17
src/lib/systemlib/system_params.c
View File

@ -265,3 +265,20 @@ 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.
*
* Note: this is work-in-progress and not all vehicle types are supported yet.
*
* @boolean
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 0);

22
src/modules/logger/logged_topics.cpp
View File

@ -50,8 +50,6 @@ void LoggedTopics::add_default_topics()
add_topic("actuator_controls_1", 100);
add_topic("actuator_controls_2", 100);
add_topic("actuator_controls_3", 100);
add_topic("actuator_controls_4", 100);
add_topic("actuator_controls_5", 100);
add_topic("actuator_controls_status_0", 300);
add_topic("airspeed", 1000);
add_topic("airspeed_validated", 200);
@ -115,13 +113,6 @@ void LoggedTopics::add_default_topics()
add_topic("vtol_vehicle_status", 200);
add_topic("wind", 1000);
// Control allocation topics
add_topic("vehicle_actuator_setpoint", 20);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_thrust_setpoint", 20);
add_topic("vehicle_torque_setpoint", 20);
// multi topics
add_topic_multi("actuator_outputs", 100, 3);
add_topic_multi("airspeed_wind", 1000);
@ -188,6 +179,19 @@ void LoggedTopics::add_default_topics()
if (gps_dump_comm >= 1) {
add_topic("gps_dump");
}
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
if (sys_ctrl_alloc >= 1) {
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic("vehicle_actuator_setpoint", 20);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_thrust_setpoint", 20);
add_topic("vehicle_torque_setpoint", 20);
}
}
void LoggedTopics::add_high_rate_topics()