ActuatorEffectivenessTiltrotorVTOL.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 ActuatorEffectivenessTiltrotorVTOL.hpp
*
* Actuator effectiveness for tiltrotor VTOL
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#include "ActuatorEffectivenessTiltrotorVTOL.hpp"
ActuatorEffectivenessTiltrotorVTOL::ActuatorEffectivenessTiltrotorVTOL()
{
setFlightPhase(FlightPhase::HOVER_FLIGHT);
}
bool
ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix)
{
if (!_updated) {
return false;
}
// Trim
float tilt = 0.0f;
switch (_flight_phase) {
case FlightPhase::HOVER_FLIGHT: {
tilt = 0.0f;
break;
}
case FlightPhase::FORWARD_FLIGHT: {
tilt = 1.5f;
break;
}
case FlightPhase::TRANSITION_FF_TO_HF:
case FlightPhase::TRANSITION_HF_TO_FF: {
tilt = 1.0f;
break;
}
}
// Trim: half throttle, tilted motors
_trim(0) = 0.5f;
_trim(1) = 0.5f;
_trim(2) = 0.5f;
_trim(3) = 0.5f;
_trim(4) = tilt;
_trim(5) = tilt;
_trim(6) = tilt;
_trim(7) = tilt;
// Effectiveness
const float tiltrotor_vtol[NUM_AXES][NUM_ACTUATORS] = {
{-0.5f * cosf(_trim(4)), 0.5f * cosf(_trim(5)), 0.5f * cosf(_trim(6)), -0.5f * cosf(_trim(7)), 0.5f * _trim(0) *sinf(_trim(4)), -0.5f * _trim(1) *sinf(_trim(5)), -0.5f * _trim(2) *sinf(_trim(6)), 0.5f * _trim(3) *sinf(_trim(7)), -0.5f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.5f * cosf(_trim(4)), -0.5f * cosf(_trim(5)), 0.5f * cosf(_trim(6)), -0.5f * cosf(_trim(7)), -0.5f * _trim(0) *sinf(_trim(4)), 0.5f * _trim(1) *sinf(_trim(5)), -0.5f * _trim(2) *sinf(_trim(6)), 0.5f * _trim(3) *sinf(_trim(7)), 0.f, 0.f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f},
{-0.5f * sinf(_trim(4)), 0.5f * sinf(_trim(5)), 0.5f * sinf(_trim(6)), -0.5f * sinf(_trim(7)), -0.5f * _trim(0) *cosf(_trim(4)), 0.5f * _trim(1) *cosf(_trim(5)), 0.5f * _trim(2) *cosf(_trim(6)), -0.5f * _trim(3) *cosf(_trim(7)), 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.25f * sinf(_trim(4)), 0.25f * sinf(_trim(5)), 0.25f * sinf(_trim(6)), 0.25f * sinf(_trim(7)), 0.25f * _trim(0) *cosf(_trim(4)), 0.25f * _trim(1) *cosf(_trim(5)), 0.25f * _trim(2) *cosf(_trim(6)), 0.25f * _trim(3) *cosf(_trim(7)), 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{-0.25f * cosf(_trim(4)), -0.25f * cosf(_trim(5)), -0.25f * cosf(_trim(6)), -0.25f * cosf(_trim(7)), 0.25f * _trim(0) *sinf(_trim(4)), 0.25f * _trim(1) *sinf(_trim(5)), 0.25f * _trim(2) *sinf(_trim(6)), 0.25f * _trim(3) *sinf(_trim(7)), 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
};
matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(tiltrotor_vtol);
// Temporarily disable a few controls (WIP)
for (size_t j = 4; j < 8; j++) {
matrix(3, j) = 0.0f;
matrix(4, j) = 0.0f;
matrix(5, j) = 0.0f;
}
_updated = false;
return true;
}
void
ActuatorEffectivenessTiltrotorVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
ActuatorEffectiveness::setFlightPhase(flight_phase);
_updated = true;
}