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ActuatorEffectivenessTailsitterVTOL.cpp
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ActuatorEffectivenessTailsitterVTOL.cpp
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/****************************************************************************
*
* Copyright (c) 2021 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 ActuatorEffectivenessTailsitterVTOL.hpp
*
* Actuator effectiveness for tailsitter VTOL
*/
#include "ActuatorEffectivenessTailsitterVTOL.hpp"
using namespace matrix;
ActuatorEffectivenessTailsitterVTOL::ActuatorEffectivenessTailsitterVTOL(ModuleParams *parent)
: ModuleParams(parent), _mc_rotors(this), _control_surfaces(this)
{
setFlightPhase(FlightPhase::HOVER_FLIGHT);
}
bool
ActuatorEffectivenessTailsitterVTOL::getEffectivenessMatrix(Configuration &configuration,
EffectivenessUpdateReason external_update)
{
if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
return false;
}
// MC motors
configuration.selected_matrix = 0;
// enable MC yaw control if more than 3 rotors
_mc_rotors.enableYawByDifferentialThrust(_mc_rotors.geometry().num_rotors > 3);
const bool mc_rotors_added_successfully = _mc_rotors.addActuators(configuration);
// Control Surfaces
configuration.selected_matrix = 1;
_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
const bool surfaces_added_successfully = _control_surfaces.addActuators(configuration);
return (mc_rotors_added_successfully && surfaces_added_successfully);
}
void ActuatorEffectivenessTailsitterVTOL::allocateAuxilaryControls(const float dt, int matrix_index,
ActuatorVector &actuator_sp)
{
if (matrix_index == 1) {
// apply flaps
normalized_unsigned_setpoint_s flaps_setpoint;
if (_flaps_setpoint_sub.copy(&flaps_setpoint)) {
_control_surfaces.applyFlaps(flaps_setpoint.normalized_setpoint, _first_control_surface_idx, dt, actuator_sp);
}
// apply spoilers
normalized_unsigned_setpoint_s spoilers_setpoint;
if (_spoilers_setpoint_sub.copy(&spoilers_setpoint)) {
_control_surfaces.applySpoilers(spoilers_setpoint.normalized_setpoint, _first_control_surface_idx, dt, actuator_sp);
}
}
}
void ActuatorEffectivenessTailsitterVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
if (_flight_phase == flight_phase) {
return;
}
ActuatorEffectiveness::setFlightPhase(flight_phase);
// update stopped motors //TODO: add option to switch off certain motors in FW
switch (flight_phase) {
case FlightPhase::FORWARD_FLIGHT:
_stopped_motors = 0;
break;
case FlightPhase::HOVER_FLIGHT:
case FlightPhase::TRANSITION_FF_TO_HF:
case FlightPhase::TRANSITION_HF_TO_FF:
_stopped_motors = 0;
break;
}
}