48be55dec8
Tiltrotor: disable tilt/thrust compensation when dynamic allocation is enabled
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
31d7328f4d
Tailsitter: invert roll (make it NED-correct) for filling vehicle_torque_setpoint
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
1ad66e606b
ControlAllocation: introduce convention for control surface deflection sign
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- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
5259877b1b
control_allocator: update matrix normalization
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- only normalize rpy for MC matrices
- for thrust use the 3D vector, so it works for FW and tilt rotors as well
This keeps MC unchanged.
3 years ago
460a0df850
tiltrotor: fill out thrust_setpoint[0] also in hover, based on tilt and hover thrust
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In the tiltrotor case, beside an F_z thrust setpoint also a F_x setpoint must be passed
to the allocator as the matrix has non-zero thrust-x effectiveness when tilts are applied.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
2333bef670
px4airframes doc: handle common outputs individually
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preparation for dynamic control allocation, where we won't have MAIN vs
AUX anymore (at least for the generic frames).
3 years ago
203e253dfe
airframes: sitl boat: switch to dynamic control allocation
3 years ago
8486ca5766
airframes: sitl cloudship: switch to dynamic control allocation
3 years ago
9bc9169b77
px4/fmu-v5x: add missing board variants to rc.board_mavlink
3 years ago
09200b994d
airship_att_control: publish thrust + torque setpoint
3 years ago
478724c9fe
EffectivenessTiltrotor: fix logic for matrix update
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
6c8f322dfe
px4/fmu-v2/test: disable modules to reduce flash
3 years ago
082cd74cab
holybro/kakutef7: disable IST8310 to reduce flash
3 years ago
8e04934eab
commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well
3 years ago
39d441317a
ActuatorEffectivenssTailsitterVTOL: only enable MC yaw control if more than 3 rotors
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
426aa76a59
CA/VTOL: change description of VT_ELEV_MC_LOCK as it applies to not just elevons
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
18008b2de7
CA module.yaml: add motor direction function also to UI for Tailsitter an Tiltrotor
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
8743b78474
px4/fmu-v2/rover: disable modules to reduce flash
3 years ago
8c782b7cd9
control_allocator: add Custom + MC with tilts effectiveness
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The param group is changed to Geometry, as this reflects the naming in the
QGC UI.
3 years ago
0818bb4be0
bitcraze/crazyflie{,21}: disable modules to reduce flash
3 years ago
751539304e
omnibus/f4sd: disable modules to reduce flash
3 years ago
627ec0df5d
control_allocator: increase STACK_MAIN to 3000
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It was exceeding 2000
3 years ago
4d38742371
control_allocator: show VT_ELEV_MC_LOCK for vtol mixers in config ui
3 years ago
28c4d0b7df
mixer_module: add unit tests
3 years ago
fe1b726b62
ScheduledWorkItem: do not call ScheduleClear() if not init in destructor
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This avoids that unit tests trying to access a wq hang.
It still fails with an error currently.
3 years ago
07306c4be3
control_allocator: add support for Tailsitter VTOL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
0568cff299
control_allocator: handle thrust allocation for VTOL's properly
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
936f2dff52
logger: log both instances of vehicle_thrust/torque_setpoint
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
d688e5dee4
sitl airframes: add control allocation config to some airframes (not enabled)
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To use them, manually set SYS_CTRL_ALLOC
3 years ago
2362feddac
airframes/uuv_bluerov2_heavy: switch over to control allocation
3 years ago
4f8e6a9548
control_allocator: do not update params while armed
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As a precaution
3 years ago
e04b4a8dbf
control_allocator: add 6DOF configuration
3 years ago
4c80adfaf1
control_allocator: implement trim + slew rate limits configuration
3 years ago
301100ce0e
uuv_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
3 years ago
590239dedb
work_queue: increase rate_ctrl stack size by 150 B
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WARN [load_mon] wq:rate_ctrl low on stack! (172 bytes left)
3 years ago
b5c2cdf6c4
vtol_att_control: do not manipulate PWM outputs if SYS_CTRL_ALLOC == 1
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Not required anymore
3 years ago
43e15148f6
rover: switch sitl configs to control allocation
3 years ago
8d9e2a28c4
control_allocator: add fixed-wing actuator effectiveness
3 years ago
4d2a403afa
control_allocator: add rover actuator effectiveness
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This can be generalized later
3 years ago
ed3a115c8f
control_allocator: add status publication rate limitation comment
3 years ago
70e46a194f
control_allocator: major refactoring & additions
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- allow effectiveness matrix to select control allocator method
(desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
3 years ago
a81f11acdd
mc_rate_control: don't publish thrust + torque sp if vtol
3 years ago
28e995ede2
fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
3 years ago
4becd6e4c7
rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
3 years ago
5da67e2e28
vtol_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
3 years ago
d1abdd0f8d
output drivers: add option to generate a separate output range reversing param
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Makes it a bit easier to configure. Reversing by setting MIN > MAX is still
supported.
3 years ago
1901edf13c
actuator_motors.msg: add reversible flags & implement in mixer_module
3 years ago
ccc1f0e8fa
generate_actuators_metadata: minor additions (index_offset, item_label_prefix)
3 years ago
81cef522fd
generate_params.py: fix bitmask param type
3 years ago
5bcc5d3a13
generate_actuators_metadata.py: add mixer rules support
3 years ago
Silvan Fuhrer
Beat Küng