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Allocation: add SteeringWheel type control surface 

Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-08-08 13:28:17 +02:00 committed by Beat Küng
parent 9e18b351bc
commit ffb8fb4383
6 changed files with 32 additions and 11 deletions
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13
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
View File

@ -129,6 +129,11 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
case Type::SingleChannelAileron:
break;
case Type::SteeringWheel:
torque.setZero();
break;
}
}
}
@ -146,8 +151,8 @@ bool ActuatorEffectivenessControlSurfaces::addActuators(Configuration &configura
return true;
}
void ActuatorEffectivenessControlSurfaces::applyFlapsAndAirbrakes(float flaps_control, float airbrakes_control,
int first_actuator_idx,
void ActuatorEffectivenessControlSurfaces::applyFlapsAirbrakesWheel(float flaps_control, float airbrakes_control,
float wheel_control, int first_actuator_idx,
ActuatorVector &actuator_sp) const
{
for (int i = 0; i < _count; ++i) {
@ -165,6 +170,10 @@ void ActuatorEffectivenessControlSurfaces::applyFlapsAndAirbrakes(float flaps_co
actuator_sp(i + first_actuator_idx) += airbrakes_control;
break;
case ActuatorEffectivenessControlSurfaces::Type::SteeringWheel:
actuator_sp(i + first_actuator_idx) += wheel_control;
break;
default:
break;
}

5
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
View File

@ -60,6 +60,7 @@ public:
LeftATail = 13,
RightATail = 14,
SingleChannelAileron = 15,
SteeringWheel = 16,
};
struct Params {
@ -80,8 +81,8 @@ public:
const Params &config(int idx) const { return _params[idx]; }
void applyFlapsAndAirbrakes(float flaps_control, float airbrakes_control, int first_actuator_idx,
ActuatorVector &actuator_sp) const;
void applyFlapsAirbrakesWheel(float flaps_control, float airbrakes_control, float wheel_control, int first_actuator_idx,
ActuatorVector &actuator_sp) const;
private:
void updateParams() override;

8
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
View File

@ -68,8 +68,10 @@ void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float,
actuator_controls_s actuator_controls_0;
if (_actuator_controls_0_sub.copy(&actuator_controls_0)) {
float control_flaps = actuator_controls_0.control[actuator_controls_s::INDEX_FLAPS];
float airbrakes_control = actuator_controls_0.control[actuator_controls_s::INDEX_AIRBRAKES];
_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
const float flaps_control = actuator_controls_0.control[actuator_controls_s::INDEX_FLAPS];
const float airbrakes_control = actuator_controls_0.control[actuator_controls_s::INDEX_AIRBRAKES];
const float steering_wheel_control = actuator_controls_0.control[actuator_controls_s::INDEX_YAW];
_control_surfaces.applyFlapsAirbrakesWheel(flaps_control, airbrakes_control, steering_wheel_control,
_first_control_surface_idx, actuator_sp);
}
}

8
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
View File

@ -71,9 +71,11 @@ void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<floa
actuator_controls_s actuator_controls_1;
if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
float control_flaps = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
const float flaps_control = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
const float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
const float steering_wheel_control = actuator_controls_1.control[actuator_controls_s::INDEX_YAW];
_control_surfaces.applyFlapsAirbrakesWheel(flaps_control, airbrakes_control, steering_wheel_control,
_first_control_surface_idx, actuator_sp);
}
}
}

4
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
View File

@ -101,7 +101,9 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
const float flaps_control = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
const float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
_control_surfaces.applyFlapsAndAirbrakes(flaps_control, airbrakes_control, _first_control_surface_idx, actuator_sp);
const float steering_wheel_control = actuator_controls_1.control[actuator_controls_s::INDEX_YAW];
_control_surfaces.applyFlapsAirbrakesWheel(flaps_control, airbrakes_control, steering_wheel_control,
_first_control_surface_idx, actuator_sp);
}
}

5
src/modules/control_allocator/module.yaml
View File

@ -271,6 +271,7 @@ parameters:
13: Left A-tail
14: Right A-tail
15: Single Channel Aileron
16: Steering Wheel
num_instances: *max_num_servos
instance_start: 0
default: 0
@ -544,6 +545,10 @@ mixer:
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
16: # Steering Wheel
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters
apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter']