ActuatorEffectiveness.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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 ActuatorEffectiveness.hpp
*
* Interface for Actuator Effectiveness
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#pragma once
#include <ControlAllocation/ControlAllocation.hpp>
#include <matrix/matrix/math.hpp>
#include <uORB/topics/vehicle_actuator_setpoint.h>
class ActuatorEffectiveness
{
public:
ActuatorEffectiveness() = default;
virtual ~ActuatorEffectiveness() = default;
static constexpr uint8_t NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;
static constexpr uint8_t NUM_AXES = ControlAllocation::NUM_AXES;
enum class FlightPhase {
HOVER_FLIGHT = 0,
FORWARD_FLIGHT = 1,
TRANSITION_HF_TO_FF = 2,
TRANSITION_FF_TO_HF = 3
};
/**
* Set the current flight phase
*
* @param Flight phase
*/
virtual void setFlightPhase(const FlightPhase &flight_phase)
{
_flight_phase = flight_phase;
}
/**
* Get the control effectiveness matrix if updated
*
* @return true if updated and matrix is set
*/
virtual bool getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix) = 0;
/**
* Get the actuator trims
*
* @return Actuator trims
*/
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorTrim() const
{
return _trim;
}
/**
* Get the current flight phase
*
* @return Flight phase
*/
const FlightPhase &getFlightPhase() const
{
return _flight_phase;
}
/**
* Get the number of actuators
*/
virtual int numActuators() const = 0;
protected:
matrix::Vector<float, NUM_ACTUATORS> _trim; ///< Actuator trim
FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT}; ///< Current flight phase
};