ControlAllocationPseudoInverse.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 ControlAllocationPseudoInverse.hpp
*
* Simple Control Allocation Algorithm
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#include "ControlAllocationPseudoInverse.hpp"
void
ControlAllocationPseudoInverse::setEffectivenessMatrix(
const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator_trim, int num_actuators)
{
ControlAllocation::setEffectivenessMatrix(effectiveness, actuator_trim, num_actuators);
_mix_update_needed = true;
}
void
ControlAllocationPseudoInverse::updatePseudoInverse()
{
if (_mix_update_needed) {
_mix = matrix::geninv(_effectiveness);
_mix_update_needed = false;
}
}
void
ControlAllocationPseudoInverse::allocate()
{
//Compute new gains if needed
updatePseudoInverse();
// Allocate
_actuator_sp = _actuator_trim + _mix * (_control_sp - _control_trim);
// Clip
clipActuatorSetpoint(_actuator_sp);
// Compute achieved control
_control_allocated = _effectiveness * _actuator_sp;
}