ControlAllocator.hpp
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/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ControlAllocator.hpp
*
* Control allocator.
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#pragma once
#include <ActuatorEffectiveness.hpp>
#include <ActuatorEffectivenessMultirotor.hpp>
#include <ActuatorEffectivenessStandardVTOL.hpp>
#include <ActuatorEffectivenessTiltrotorVTOL.hpp>
#include <ControlAllocation.hpp>
#include <ControlAllocationPseudoInverse.hpp>
#include <ControlAllocationSequentialDesaturation.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_actuator_setpoint.h>
#include <uORB/topics/vehicle_status.h>
class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::WorkItem
{
public:
ControlAllocator();
virtual ~ControlAllocator();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::print_status() */
int print_status() override;
void Run() override;
bool init();
static constexpr uint8_t NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;
static constexpr uint8_t NUM_AXES = ControlAllocation::NUM_AXES;
private:
/**
* initialize some vectors/matrices from parameters
*/
void parameters_updated();
void update_allocation_method();
void update_effectiveness_source();
void update_effectiveness_matrix_if_needed();
void publish_actuator_setpoint();
void publish_control_allocator_status();
void publish_legacy_actuator_controls();
void publish_legacy_multirotor_motor_limits();
enum class AllocationMethod {
NONE = -1,
PSEUDO_INVERSE = 0,
SEQUENTIAL_DESATURATION = 1,
};
AllocationMethod _allocation_method_id{AllocationMethod::NONE};
ControlAllocation *_control_allocation{nullptr}; ///< class for control allocation calculations
enum class EffectivenessSource {
NONE = -1,
MULTIROTOR = 0,
STANDARD_VTOL = 1,
TILTROTOR_VTOL = 2,
};
EffectivenessSource _effectiveness_source_id{EffectivenessSource::NONE};
ActuatorEffectiveness *_actuator_effectiveness{nullptr}; ///< class providing actuator effectiveness
// Inputs
uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)}; /**< vehicle torque setpoint subscription */
uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_sub{this, ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */
// Outputs
uORB::Publication<vehicle_actuator_setpoint_s> _vehicle_actuator_setpoint_pub{ORB_ID(vehicle_actuator_setpoint)}; /**< actuator setpoint publication */
uORB::Publication<control_allocator_status_s> _control_allocator_status_pub{ORB_ID(control_allocator_status)}; /**< actuator setpoint publication */
// actuator_controls publication handles (temporary hack to plug actuator_setpoint into the mixer system)
uORB::Publication<actuator_controls_s> _actuator_controls_4_pub{ORB_ID(actuator_controls_4)}; /**< actuator controls 4 publication */
uORB::Publication<actuator_controls_s> _actuator_controls_5_pub{ORB_ID(actuator_controls_5)}; /**< actuator controls 5 publication */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)}; /**< airspeed subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
matrix::Vector3f _torque_sp;
matrix::Vector3f _thrust_sp;
// float _battery_scale_factor{1.0f};
// float _airspeed_scale_factor{1.0f};
perf_counter_t _loop_perf; /**< loop duration performance counter */
hrt_abstime _last_run{0};
hrt_abstime _timestamp_sample{0};
DEFINE_PARAMETERS(
(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe,
(ParamInt<px4::params::CA_METHOD>) _param_ca_method,
(ParamBool<px4::params::CA_BAT_SCALE_EN>) _param_ca_bat_scale_en,
(ParamBool<px4::params::CA_AIR_SCALE_EN>) _param_ca_air_scale_en,
(ParamFloat<px4::params::CA_ACT0_MIN>) _param_ca_act0_min,
(ParamFloat<px4::params::CA_ACT1_MIN>) _param_ca_act1_min,
(ParamFloat<px4::params::CA_ACT2_MIN>) _param_ca_act2_min,
(ParamFloat<px4::params::CA_ACT3_MIN>) _param_ca_act3_min,
(ParamFloat<px4::params::CA_ACT4_MIN>) _param_ca_act4_min,
(ParamFloat<px4::params::CA_ACT5_MIN>) _param_ca_act5_min,
(ParamFloat<px4::params::CA_ACT6_MIN>) _param_ca_act6_min,
(ParamFloat<px4::params::CA_ACT7_MIN>) _param_ca_act7_min,
(ParamFloat<px4::params::CA_ACT8_MIN>) _param_ca_act8_min,
(ParamFloat<px4::params::CA_ACT9_MIN>) _param_ca_act9_min,
(ParamFloat<px4::params::CA_ACT10_MIN>) _param_ca_act10_min,
(ParamFloat<px4::params::CA_ACT11_MIN>) _param_ca_act11_min,
(ParamFloat<px4::params::CA_ACT12_MIN>) _param_ca_act12_min,
(ParamFloat<px4::params::CA_ACT13_MIN>) _param_ca_act13_min,
(ParamFloat<px4::params::CA_ACT14_MIN>) _param_ca_act14_min,
(ParamFloat<px4::params::CA_ACT15_MIN>) _param_ca_act15_min,
(ParamFloat<px4::params::CA_ACT0_MAX>) _param_ca_act0_max,
(ParamFloat<px4::params::CA_ACT1_MAX>) _param_ca_act1_max,
(ParamFloat<px4::params::CA_ACT2_MAX>) _param_ca_act2_max,
(ParamFloat<px4::params::CA_ACT3_MAX>) _param_ca_act3_max,
(ParamFloat<px4::params::CA_ACT4_MAX>) _param_ca_act4_max,
(ParamFloat<px4::params::CA_ACT5_MAX>) _param_ca_act5_max,
(ParamFloat<px4::params::CA_ACT6_MAX>) _param_ca_act6_max,
(ParamFloat<px4::params::CA_ACT7_MAX>) _param_ca_act7_max,
(ParamFloat<px4::params::CA_ACT8_MAX>) _param_ca_act8_max,
(ParamFloat<px4::params::CA_ACT9_MAX>) _param_ca_act9_max,
(ParamFloat<px4::params::CA_ACT10_MAX>) _param_ca_act10_max,
(ParamFloat<px4::params::CA_ACT11_MAX>) _param_ca_act11_max,
(ParamFloat<px4::params::CA_ACT12_MAX>) _param_ca_act12_max,
(ParamFloat<px4::params::CA_ACT13_MAX>) _param_ca_act13_max,
(ParamFloat<px4::params::CA_ACT14_MAX>) _param_ca_act14_max,
(ParamFloat<px4::params::CA_ACT15_MAX>) _param_ca_act15_max
)
};