ActuatorEffectivenessMultirotor.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 ActuatorEffectivenessMultirotor.hpp
*
* Actuator effectiveness computed from rotors position and orientation
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#pragma once
#include "ActuatorEffectiveness.hpp"
#include <px4_platform_common/module_params.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/parameter_update.h>
using namespace time_literals;
class ActuatorEffectivenessMultirotor: public ModuleParams, public ActuatorEffectiveness
{
public:
ActuatorEffectivenessMultirotor();
virtual ~ActuatorEffectivenessMultirotor() = default;
static constexpr int NUM_ROTORS_MAX = 8;
typedef struct {
float position_x;
float position_y;
float position_z;
float axis_x;
float axis_y;
float axis_z;
float thrust_coef;
float moment_ratio;
} RotorGeometry;
typedef struct {
RotorGeometry rotors[NUM_ROTORS_MAX];
} MultirotorGeometry;
static int computeEffectivenessMatrix(const MultirotorGeometry &geometry,
matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness);
bool getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix) override;
int numActuators() const override { return _num_actuators; }
private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
bool _updated{true};
int _num_actuators{0};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::CA_MC_R0_PX>) _param_ca_mc_r0_px,
(ParamFloat<px4::params::CA_MC_R0_PY>) _param_ca_mc_r0_py,
(ParamFloat<px4::params::CA_MC_R0_PZ>) _param_ca_mc_r0_pz,
(ParamFloat<px4::params::CA_MC_R0_AX>) _param_ca_mc_r0_ax,
(ParamFloat<px4::params::CA_MC_R0_AY>) _param_ca_mc_r0_ay,
(ParamFloat<px4::params::CA_MC_R0_AZ>) _param_ca_mc_r0_az,
(ParamFloat<px4::params::CA_MC_R0_CT>) _param_ca_mc_r0_ct,
(ParamFloat<px4::params::CA_MC_R0_KM>) _param_ca_mc_r0_km,
(ParamFloat<px4::params::CA_MC_R1_PX>) _param_ca_mc_r1_px,
(ParamFloat<px4::params::CA_MC_R1_PY>) _param_ca_mc_r1_py,
(ParamFloat<px4::params::CA_MC_R1_PZ>) _param_ca_mc_r1_pz,
(ParamFloat<px4::params::CA_MC_R1_AX>) _param_ca_mc_r1_ax,
(ParamFloat<px4::params::CA_MC_R1_AY>) _param_ca_mc_r1_ay,
(ParamFloat<px4::params::CA_MC_R1_AZ>) _param_ca_mc_r1_az,
(ParamFloat<px4::params::CA_MC_R1_CT>) _param_ca_mc_r1_ct,
(ParamFloat<px4::params::CA_MC_R1_KM>) _param_ca_mc_r1_km,
(ParamFloat<px4::params::CA_MC_R2_PX>) _param_ca_mc_r2_px,
(ParamFloat<px4::params::CA_MC_R2_PY>) _param_ca_mc_r2_py,
(ParamFloat<px4::params::CA_MC_R2_PZ>) _param_ca_mc_r2_pz,
(ParamFloat<px4::params::CA_MC_R2_AX>) _param_ca_mc_r2_ax,
(ParamFloat<px4::params::CA_MC_R2_AY>) _param_ca_mc_r2_ay,
(ParamFloat<px4::params::CA_MC_R2_AZ>) _param_ca_mc_r2_az,
(ParamFloat<px4::params::CA_MC_R2_CT>) _param_ca_mc_r2_ct,
(ParamFloat<px4::params::CA_MC_R2_KM>) _param_ca_mc_r2_km,
(ParamFloat<px4::params::CA_MC_R3_PX>) _param_ca_mc_r3_px,
(ParamFloat<px4::params::CA_MC_R3_PY>) _param_ca_mc_r3_py,
(ParamFloat<px4::params::CA_MC_R3_PZ>) _param_ca_mc_r3_pz,
(ParamFloat<px4::params::CA_MC_R3_AX>) _param_ca_mc_r3_ax,
(ParamFloat<px4::params::CA_MC_R3_AY>) _param_ca_mc_r3_ay,
(ParamFloat<px4::params::CA_MC_R3_AZ>) _param_ca_mc_r3_az,
(ParamFloat<px4::params::CA_MC_R3_CT>) _param_ca_mc_r3_ct,
(ParamFloat<px4::params::CA_MC_R3_KM>) _param_ca_mc_r3_km,
(ParamFloat<px4::params::CA_MC_R4_PX>) _param_ca_mc_r4_px,
(ParamFloat<px4::params::CA_MC_R4_PY>) _param_ca_mc_r4_py,
(ParamFloat<px4::params::CA_MC_R4_PZ>) _param_ca_mc_r4_pz,
(ParamFloat<px4::params::CA_MC_R4_AX>) _param_ca_mc_r4_ax,
(ParamFloat<px4::params::CA_MC_R4_AY>) _param_ca_mc_r4_ay,
(ParamFloat<px4::params::CA_MC_R4_AZ>) _param_ca_mc_r4_az,
(ParamFloat<px4::params::CA_MC_R4_CT>) _param_ca_mc_r4_ct,
(ParamFloat<px4::params::CA_MC_R4_KM>) _param_ca_mc_r4_km,
(ParamFloat<px4::params::CA_MC_R5_PX>) _param_ca_mc_r5_px,
(ParamFloat<px4::params::CA_MC_R5_PY>) _param_ca_mc_r5_py,
(ParamFloat<px4::params::CA_MC_R5_PZ>) _param_ca_mc_r5_pz,
(ParamFloat<px4::params::CA_MC_R5_AX>) _param_ca_mc_r5_ax,
(ParamFloat<px4::params::CA_MC_R5_AY>) _param_ca_mc_r5_ay,
(ParamFloat<px4::params::CA_MC_R5_AZ>) _param_ca_mc_r5_az,
(ParamFloat<px4::params::CA_MC_R5_CT>) _param_ca_mc_r5_ct,
(ParamFloat<px4::params::CA_MC_R5_KM>) _param_ca_mc_r5_km,
(ParamFloat<px4::params::CA_MC_R6_PX>) _param_ca_mc_r6_px,
(ParamFloat<px4::params::CA_MC_R6_PY>) _param_ca_mc_r6_py,
(ParamFloat<px4::params::CA_MC_R6_PZ>) _param_ca_mc_r6_pz,
(ParamFloat<px4::params::CA_MC_R6_AX>) _param_ca_mc_r6_ax,
(ParamFloat<px4::params::CA_MC_R6_AY>) _param_ca_mc_r6_ay,
(ParamFloat<px4::params::CA_MC_R6_AZ>) _param_ca_mc_r6_az,
(ParamFloat<px4::params::CA_MC_R6_CT>) _param_ca_mc_r6_ct,
(ParamFloat<px4::params::CA_MC_R6_KM>) _param_ca_mc_r6_km,
(ParamFloat<px4::params::CA_MC_R7_PX>) _param_ca_mc_r7_px,
(ParamFloat<px4::params::CA_MC_R7_PY>) _param_ca_mc_r7_py,
(ParamFloat<px4::params::CA_MC_R7_PZ>) _param_ca_mc_r7_pz,
(ParamFloat<px4::params::CA_MC_R7_AX>) _param_ca_mc_r7_ax,
(ParamFloat<px4::params::CA_MC_R7_AY>) _param_ca_mc_r7_ay,
(ParamFloat<px4::params::CA_MC_R7_AZ>) _param_ca_mc_r7_az,
(ParamFloat<px4::params::CA_MC_R7_CT>) _param_ca_mc_r7_ct,
(ParamFloat<px4::params::CA_MC_R7_KM>) _param_ca_mc_r7_km
)
};