ControlAllocation.cpp
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/****************************************************************************
*
* Copyright (c) 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 ControlAllocation.cpp
*
* Interface for Control Allocation Algorithms
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#include "ControlAllocation.hpp"
void
ControlAllocation::setEffectivenessMatrix(
const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator_trim, int num_actuators)
{
_effectiveness = effectiveness;
_actuator_trim = actuator_trim;
clipActuatorSetpoint(_actuator_trim);
_control_trim = _effectiveness * _actuator_trim;
_num_actuators = num_actuators;
// make sure unused actuators are initialized to trim
for (int i = num_actuators; i < NUM_ACTUATORS; ++i) {
_actuator_sp(i) = _actuator_trim(i);
}
}
void
ControlAllocation::setActuatorSetpoint(
const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator_sp)
{
// Set actuator setpoint
_actuator_sp = actuator_sp;
// Clip
clipActuatorSetpoint(_actuator_sp);
// Compute achieved control
_control_allocated = _effectiveness * _actuator_sp;
}
void
ControlAllocation::clipActuatorSetpoint(matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator) const
{
for (int i = 0; i < _num_actuators; i++) {
if (_actuator_max(i) < _actuator_min(i)) {
actuator(i) = _actuator_trim(i);
} else if (actuator(i) < _actuator_min(i)) {
actuator(i) = _actuator_min(i);
} else if (actuator(i) > _actuator_max(i)) {
actuator(i) = _actuator_max(i);
}
}
}
matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
ControlAllocation::normalizeActuatorSetpoint(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator)
const
{
matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> actuator_normalized;
for (size_t i = 0; i < ControlAllocation::NUM_ACTUATORS; i++) {
if (_actuator_min(i) < _actuator_max(i)) {
actuator_normalized(i) = -1.0f + 2.0f * (actuator(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
} else {
actuator_normalized(i) = -1.0f + 2.0f * (_actuator_trim(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
}
}
return actuator_normalized;
}