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WIP: Control Allocation#13351

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jlecoeur wants to merge 129 commits intomasterPX4/PX4-Autopilot:masterfrom pr-control_allocationPX4/PX4-Autopilot:pr-control_allocationCopy head branch name to clipboard

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Commits

Commits on Jul 11, 2020

• LPF: add sample frequency getter

  jlecoeur

  committed
  b244c2c

• uORB: Add angular accel, torque & thrust setpoints

  jlecoeur

  committed
  7928b8f

• logger: log angular acceleration, torque and thrust setpoints for system identification

  jlecoeur

  committed
  d927c33

• sitl iris: set inertia and update gains

  jlecoeur

  committed
  31d9ed7

• Add topic vehicle_actuator_setpoint

  jlecoeur

  committed
  7028051

• Add actuator control groups 4 and 5

  Show description for 88b1298
  jlecoeur

  committed
  88b1298

• PX4IO: adapt to added control groups 4 and 5

  jlecoeur

  committed
  4a68c10

• mixer_module: adapt to added control groups 4 and 5

  jlecoeur

  committed
  b6bf0f1

• Add mixer type AllocatedActuatorMixer (A:)

  Show description for 15f0a03
  jlecoeur

  committed
  15f0a03

• Add generic quad, hexa and octo mixers

  jlecoeur

  committed
  27e34b6

• Add ControlAllocation base class

  jlecoeur

  committed
  d0291f0

• control_allocation: introduced ControlAllocationPseudoInverse class

  Show description for 38cadb7
  jlecoeur

  committed
  38cadb7

• Add control_allocator module

  Show description for 9648ef6
  jlecoeur

  committed
  9648ef6

• control_allocation: implemented sequential desaturation class

  Show description for b952370
  

  RomanBapst

  authored and

  jlecoeur

  committed
  b952370

• px4_sitl_default: build control_allocator

  jlecoeur

  committed
  170a7ed

• px4_fmu-v5_default: build control_allocator

  jlecoeur

  committed
  c316a19

• px4_fmu-v2_default: build control_allocator

  jlecoeur

  committed
  e87a98a

• mc/fw/vtol startup scripts: start control_allocator

  jlecoeur

  committed
  71fc9fb

• sitl iris: use control allocation module

  jlecoeur

  committed
  9a2afb3

• sitl_typhoon: use control allocator module

  jlecoeur

  committed
  b39e5b6

• [WIP] test on PX4IO

  jlecoeur

  committed
  ba91f12

• control_allocator: fixed negative saturation status reporting

  Show description for c1df715
  

  RomanBapst

  authored and

  jlecoeur

  committed
  c1df715

• standard.cpp: set pusher thrust setpoint

  Show description for 568492d
  

  RomanBapst

  authored and

  jlecoeur

  committed
  568492d

• sitl standard vtol: set parameters required for CA module

  Show description for 908d09b
  

  RomanBapst

  authored and

  jlecoeur

  committed
  908d09b

• added direct mixer to fly stanard vtol with control allocation module

  Show description for fdcf144
  

  RomanBapst

  authored and

  jlecoeur

  committed
  fdcf144

• SITL: use direct mixer for standard vtol

  Show description for 961311c
  

  RomanBapst

  authored and

  jlecoeur

  committed
  961311c

• control_allocator: added control effectiveness matrix for fixed wing flight

  Show description for 63ee029
  

  RomanBapst

  authored and

  jlecoeur

  committed
  63ee029

• control allocation: fomatting fix

  Show description for 1155f2e
  

  RomanBapst

  authored and

  jlecoeur

  committed
  1155f2e

• control_allocator: maintain quad_w effectiveness

  jlecoeur

  committed
  73fd294

• sitl standard_vtol: set param CA_AIRFRAME

  jlecoeur

  committed
  bc30f49

• Fix standard_vtol param names

  jlecoeur

  committed
  236a289

• fmu-v2: do not build control_allocator

  jlecoeur

  committed
  ed822ac

• Add angular_velocity_controller module

  jlecoeur

  committed
  266b819

• sitl iris: revert default gains

  jlecoeur

  committed
  836f0c7

• sitl standard_vtol: use default inertia

  jlecoeur

  committed
  09b0f9a

• mc/fw/vtol: revert control_allocator autostart

  jlecoeur

  committed
  2556c71

• fmu-v5: build angular_velocity_controller

  jlecoeur

  committed
  b86535e

• sitl: build angular_velocity_controller

  jlecoeur

  committed
  d2668f7

• Add rc.new_apps script to test new controllers and control allocator

  jlecoeur

  committed
  766d615

• sitl: autostart new apps

  jlecoeur

  committed
  e3b5b6d

• sitl typhoon_h480: set inertia and gains

  jlecoeur

  committed
  9889164

• format

  jlecoeur

  committed
  fb4c9d5

• sitl standard_vtol: disable control allocation (CI fails)

  jlecoeur

  committed
  97130d7

• AngularVelocityController: fixup

  jlecoeur

  committed
  e87dd7b

• ControlAllocation: fix appveyor build

  jlecoeur

  committed
  e7e7872

• angular_velocity_controller: run in FW mode

  jlecoeur

  committed
  3a53b7d

• control_allocator: do not publish multirotor_motor_limits

  jlecoeur

  committed
  af72fc8

• control_allocator: fix param metadata

  jlecoeur

  committed
  cddf12b

• standard_vtol: activate both motors and flaps during transitions

  jlecoeur

  committed
  544b9a3

• standard_vtol: reactivate control allocation

  jlecoeur

  committed
  736dfa1

• control_allocator: enumerate airframes

  jlecoeur

  committed
  57bab34

• format

  jlecoeur

  committed
  29fe598

• ControlAllocation: fix global defined macro interfering with local member variable

  Show description for 212dd59
  

  MaEtUgR

  authored and

  jlecoeur

  committed
  212dd59

• control_allocation: rename _B -> _effectiveness

  jlecoeur

  committed
  e136a42

• control_allocation: rename _A -> _mix

  jlecoeur

  committed
  bac71d6

• control_allocation: fix method names

  jlecoeur

  committed
  17946d2

• control_allocation: fix state in setActuatorSetpoint

  jlecoeur

  committed
  11a87a5

• control_allocation: fixup

  jlecoeur

  committed
  81827ae

• control_allocator: update effectiveness when changed

  jlecoeur

  committed
  32c524a

• Add tiltrotor effectiveness (WIP)

  jlecoeur

  committed
  28bedf9

• sitl tiltrotor: add direct mixer

  jlecoeur

  committed
  1cc5bab

• control_allocation: make allocation incremental

  jlecoeur

  committed
  16976b1

• control_allocation: update method signature

  jlecoeur

  committed
  e07d49f

• ControlAllocationPseudoInverse: rename _A_update_needed -> _mix_update_needed

  jlecoeur

  committed
  8afc742

• ControlAllocation: set trim with effectiveness

  jlecoeur

  committed
  fd8a8ab

• ControlAllocationPseudoInverse: set trim with effectiveness

  jlecoeur

  committed
  9ccddf5

• ControlAllocationSequentialDesaturation: set trim with effectiveness

  jlecoeur

  committed
  8b3dba7

• ControlAllocator: set trim with effectiveness

  jlecoeur

  committed
  6a50223

• sitl tiltrotor: type

  jlecoeur

  committed
  4d6199b

• sitl tiltrotor: use control allocation

  jlecoeur

  committed
  7b19e81

• Fix rebase conflicts

  jlecoeur

  committed
  5bab9d9

• angvelctrl: align param order with mc_rate_control

  jlecoeur

  committed
  e3c61c0

• allocator: fill allocation success flags

  jlecoeur

  committed
  10e4887

• Format

  jlecoeur

  committed
  334d34b

• Add AllocationMethod enum

  jlecoeur

  committed
  1ca1172

• Print more info

  jlecoeur

  committed
  7cefa56

• Move effectiveness matrices to provider classes

  jlecoeur

  committed
  0e776d2

• Generate MC effectiveness from params

  Show description for b2ffda0
  jlecoeur

  committed
  b2ffda0

• Run control allocator in its own work queue

  jlecoeur

  committed
  fb0ad54

• Revert CA support from px4io

  jlecoeur

  committed
  e5c5ee5

• Add common direct.main.mix mixer

  jlecoeur

  committed
  2eca2f2

• Define moment coefficient as moment/thrust ratio

  jlecoeur

  committed
  67d45ef

• Remove unused airframe

  jlecoeur

  committed
  4f4c2f7

• Set iris geometry

  jlecoeur

  committed
  82517e8

• Set iris inertia (same as gazebo model)

  jlecoeur

  committed
  a102f39

• AVC: convert thrust_sp into Newtons

  jlecoeur

  committed
  c37f16c

• Clarify comment

  jlecoeur

  committed
  2f21ecd

• iris: set correct rotor rotation directions

  jlecoeur

  committed
  c76a0bb

• Disable hover thrust estimator (does not play nice with control allocation)

  jlecoeur

  committed
  7d4f438

• Display transpose of effectiveness

  jlecoeur

  committed
  b134f9d

• typhoon sitl: configure geometry, mass and inertia

  Show description for 84536f8
  jlecoeur

  committed
  84536f8

• Update src/lib/mixer/AllocatedActuatorMixer/AllocatedActuatorMixer.cpp

  Show description for 451b2a5
  

  jlecoeur

  and

  dagar

  committed
  451b2a5

• Rename rc.new_apps -> rc.ctrlalloc

  jlecoeur

  committed
  e5827c6

• Stop mc_rate_control when using avc

  jlecoeur

  committed
  5df96d0

• do not build control alloca modules by default

  jlecoeur

  committed
  c6edf3f

• fmu-v3, fmu-v5, sitl: add *_ctrlalloc target

  jlecoeur

  committed
  a87d81b

• sitl: do not start control alloc by default

  jlecoeur

  committed
  acafdb9

• Add iris_ctrlalloc and typhoon_ctralloc sitl airframes

  jlecoeur

  committed
  f4b0188

• Add ActuatorEffectivenessMultirotor unit test

  jlecoeur

  committed
  851c4d7

• revert typhoon sitl airframe changes

  jlecoeur

  committed
  3a135bf

• Update sitl_gazebo with control_allocation sitl models

  jlecoeur

  committed
  804b30d

• Add target px4_fmu-v4_ctrlalloc

  jlecoeur

  committed
  1b49fbc

• Run AVC in wq:ctrl_alloc

  jlecoeur

  committed
  31615ec

• Typhoon: increase inertia

  jlecoeur

  committed
  f117dbe

• Add params to simulate actuator failure

  jlecoeur

  committed
  b247368

• control_allocator: build with MAX_CUSTOM_OPT_LEVEL

  jlecoeur

  committed
  84c7fc1

• angular_velocity_controller: build with MAX_CUSTOM_OPT_LEVEL

  jlecoeur

  committed
  b5a8d86

• Small fixes

  jlecoeur

  committed
  69b4a41

• Fix tests

  jlecoeur

  committed
  6a73f6f

• add quad and hexa CA airframe configs

  Show description for a8f3582
  

  sfuhrer

  authored and

  jlecoeur

  committed
  a8f3582

• CA: add control allocation topics

  Show description for a0af613
  

  sfuhrer

  authored and

  jlecoeur

  committed
  a0af613

• Disable hover thrust estimator and prearming

  jlecoeur

  committed
  74eb95f

• Update sitl_gazebo submodule

  jlecoeur

  committed
  75226d8

• Disable ActuatorEffectiveness tests

  jlecoeur

  committed
  c18b205

• Format

  jlecoeur

  committed
  8a1a20d

Commits on Jul 17, 2020

• mixer module: handle all actuator_controls of 4 and 5 as rotors, e.g. don't output something while pre-armed

  Show description for b948595
  sfuhrer

  committed
  b948595

• Revert "Add params to simulate actuator failure"

  Show description for b8b168a
  sfuhrer

  committed
  b8b168a

• CA_AIRFRAME: clean up param description

  Show description for 66b066d
  sfuhrer

  committed
  66b066d

Commits on Jan 1, 2021

• fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool

  

  bkueng

  authored and

  LorenzMeier

  committed
  ba29c28

• control_allocator: remove unused _task_start

  

  bkueng

  authored and

  LorenzMeier

  committed
  354126f

• fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory

  

  bkueng

  authored and

  LorenzMeier

  committed
  703fb00

• fix control_allocator: set _last_run at the correct place

  

  bkueng

  authored and

  LorenzMeier

  committed
  54dfdb0

• refactor control_allocator: directly get the effectiveness matrix when updated

  Show description for de10a3c
  

  bkueng

  authored and

  LorenzMeier

  committed
  de10a3c

• control_allocator: change SequentialDesaturation to existing MC mixer

  Show description for 8c4cfe6
  

  bkueng

  authored and

  LorenzMeier

  committed
  8c4cfe6

• control_allocator: avoid vector copies and sqrt()

  

  bkueng

  authored and

  LorenzMeier

  committed
  fde6fb8

• control_allocator: inline one-line setters & getters

  

  bkueng

  authored and

  LorenzMeier

  committed
  f8d245d

• control_allocator: ensure unused outputs are initialized to min

  Show description for bdacca3
  

  bkueng

  authored and

  LorenzMeier

  committed
  bdacca3

• control_allocator: set unused actuators to trim instead of min

  

  bkueng

  authored and

  LorenzMeier

  committed
  2d3d6e8

• ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix

  Show description for 014d6ac
  

  bkueng

  authored and

  LorenzMeier

  committed
  014d6ac