ActuatorEffectivenessMultirotor.cpp
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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 ActuatorEffectivenessMultirotor.hpp
*
* Actuator effectiveness computed from rotors position and orientation
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#include "ActuatorEffectivenessMultirotor.hpp"
ActuatorEffectivenessMultirotor::ActuatorEffectivenessMultirotor():
ModuleParams(nullptr)
{
}
bool
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix)
{
// Check if parameters have changed
if (_updated || _parameter_update_sub.updated()) {
// clear update
parameter_update_s param_update;
_parameter_update_sub.copy(¶m_update);
updateParams();
_updated = false;
// Get multirotor geometry
MultirotorGeometry geometry = {};
geometry.rotors[0].position_x = _param_ca_mc_r0_px.get();
geometry.rotors[0].position_y = _param_ca_mc_r0_py.get();
geometry.rotors[0].position_z = _param_ca_mc_r0_pz.get();
geometry.rotors[0].axis_x = _param_ca_mc_r0_ax.get();
geometry.rotors[0].axis_y = _param_ca_mc_r0_ay.get();
geometry.rotors[0].axis_z = _param_ca_mc_r0_az.get();
geometry.rotors[0].thrust_coef = _param_ca_mc_r0_ct.get();
geometry.rotors[0].moment_ratio = _param_ca_mc_r0_km.get();
geometry.rotors[1].position_x = _param_ca_mc_r1_px.get();
geometry.rotors[1].position_y = _param_ca_mc_r1_py.get();
geometry.rotors[1].position_z = _param_ca_mc_r1_pz.get();
geometry.rotors[1].axis_x = _param_ca_mc_r1_ax.get();
geometry.rotors[1].axis_y = _param_ca_mc_r1_ay.get();
geometry.rotors[1].axis_z = _param_ca_mc_r1_az.get();
geometry.rotors[1].thrust_coef = _param_ca_mc_r1_ct.get();
geometry.rotors[1].moment_ratio = _param_ca_mc_r1_km.get();
geometry.rotors[2].position_x = _param_ca_mc_r2_px.get();
geometry.rotors[2].position_y = _param_ca_mc_r2_py.get();
geometry.rotors[2].position_z = _param_ca_mc_r2_pz.get();
geometry.rotors[2].axis_x = _param_ca_mc_r2_ax.get();
geometry.rotors[2].axis_y = _param_ca_mc_r2_ay.get();
geometry.rotors[2].axis_z = _param_ca_mc_r2_az.get();
geometry.rotors[2].thrust_coef = _param_ca_mc_r2_ct.get();
geometry.rotors[2].moment_ratio = _param_ca_mc_r2_km.get();
geometry.rotors[3].position_x = _param_ca_mc_r3_px.get();
geometry.rotors[3].position_y = _param_ca_mc_r3_py.get();
geometry.rotors[3].position_z = _param_ca_mc_r3_pz.get();
geometry.rotors[3].axis_x = _param_ca_mc_r3_ax.get();
geometry.rotors[3].axis_y = _param_ca_mc_r3_ay.get();
geometry.rotors[3].axis_z = _param_ca_mc_r3_az.get();
geometry.rotors[3].thrust_coef = _param_ca_mc_r3_ct.get();
geometry.rotors[3].moment_ratio = _param_ca_mc_r3_km.get();
geometry.rotors[4].position_x = _param_ca_mc_r4_px.get();
geometry.rotors[4].position_y = _param_ca_mc_r4_py.get();
geometry.rotors[4].position_z = _param_ca_mc_r4_pz.get();
geometry.rotors[4].axis_x = _param_ca_mc_r4_ax.get();
geometry.rotors[4].axis_y = _param_ca_mc_r4_ay.get();
geometry.rotors[4].axis_z = _param_ca_mc_r4_az.get();
geometry.rotors[4].thrust_coef = _param_ca_mc_r4_ct.get();
geometry.rotors[4].moment_ratio = _param_ca_mc_r4_km.get();
geometry.rotors[5].position_x = _param_ca_mc_r5_px.get();
geometry.rotors[5].position_y = _param_ca_mc_r5_py.get();
geometry.rotors[5].position_z = _param_ca_mc_r5_pz.get();
geometry.rotors[5].axis_x = _param_ca_mc_r5_ax.get();
geometry.rotors[5].axis_y = _param_ca_mc_r5_ay.get();
geometry.rotors[5].axis_z = _param_ca_mc_r5_az.get();
geometry.rotors[5].thrust_coef = _param_ca_mc_r5_ct.get();
geometry.rotors[5].moment_ratio = _param_ca_mc_r5_km.get();
geometry.rotors[6].position_x = _param_ca_mc_r6_px.get();
geometry.rotors[6].position_y = _param_ca_mc_r6_py.get();
geometry.rotors[6].position_z = _param_ca_mc_r6_pz.get();
geometry.rotors[6].axis_x = _param_ca_mc_r6_ax.get();
geometry.rotors[6].axis_y = _param_ca_mc_r6_ay.get();
geometry.rotors[6].axis_z = _param_ca_mc_r6_az.get();
geometry.rotors[6].thrust_coef = _param_ca_mc_r6_ct.get();
geometry.rotors[6].moment_ratio = _param_ca_mc_r6_km.get();
geometry.rotors[7].position_x = _param_ca_mc_r7_px.get();
geometry.rotors[7].position_y = _param_ca_mc_r7_py.get();
geometry.rotors[7].position_z = _param_ca_mc_r7_pz.get();
geometry.rotors[7].axis_x = _param_ca_mc_r7_ax.get();
geometry.rotors[7].axis_y = _param_ca_mc_r7_ay.get();
geometry.rotors[7].axis_z = _param_ca_mc_r7_az.get();
geometry.rotors[7].thrust_coef = _param_ca_mc_r7_ct.get();
geometry.rotors[7].moment_ratio = _param_ca_mc_r7_km.get();
_num_actuators = computeEffectivenessMatrix(geometry, matrix);
return true;
}
return false;
}
int
ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(const MultirotorGeometry &geometry,
matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness)
{
int num_actuators = 0;
effectiveness.setZero();
for (size_t i = 0; i < NUM_ROTORS_MAX; i++) {
// Get rotor axis
matrix::Vector3f axis(
geometry.rotors[i].axis_x,
geometry.rotors[i].axis_y,
geometry.rotors[i].axis_z
);
// Normalize axis
float axis_norm = axis.norm();
if (axis_norm > FLT_EPSILON) {
axis /= axis_norm;
} else {
// Bad axis definition, ignore this rotor
continue;
}
// Get rotor position
matrix::Vector3f position(
geometry.rotors[i].position_x,
geometry.rotors[i].position_y,
geometry.rotors[i].position_z
);
// Get coefficients
float ct = geometry.rotors[i].thrust_coef;
float km = geometry.rotors[i].moment_ratio;
if (fabsf(ct) < FLT_EPSILON) {
continue;
}
// Compute thrust generated by this rotor
matrix::Vector3f thrust = ct * axis;
// Compute moment generated by this rotor
matrix::Vector3f moment = ct * position.cross(axis) - ct * km * axis;
// Fill corresponding items in effectiveness matrix
for (size_t j = 0; j < 3; j++) {
effectiveness(j, i) = moment(j);
effectiveness(j + 3, i) = thrust(j);
}
num_actuators = i + 1;
}
return num_actuators;
}