initial control allocation support (safe to merge) #16528
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LorenzMeier
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Jan 10, 2021
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@dagar SITL tests and param metadata tests are failing. |
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Invalid unit in AVC_X_FF: N.m.s/rad |
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Will the corresponding document description be synchronized? |
I'm not sure what you're referring to, could you be more specific? |
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For example, how to use this new control allocation on a homemade drone? |
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We'll get there, but it's a bit early. At this stage I'm trying to bring in this incremental progress to enable further development. |
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dagar
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Jan 11, 2021
| @@ -323,6 +323,9 @@ void Standard::update_transition_state() | |||
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| _v_att_sp->thrust_body[0] = _pusher_throttle; | |||
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The standard VTOL failures look real. |
bresch
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The build failure was caused by some leftovers in the SITL vtol_standard aiframe. |
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- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See #13351 for details Co-authored-by: Silvan Fuhrer <[email protected]> Co-authored-by: Roman Bapst <[email protected]>
…point_achieved are bool
…n updated Reduces stack + RAM usage
And limit the operations to the number of configured outputs. Only using the number of configured actuators reduces CPU load by ~2% on F7 @1KHz.
Mostly important in cases where the ouputs would change (e.g. param change)
…ting the matrix Just to be on the safe side.
…update subscription
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Continued #13351 that should be safe for merging to support continued development.
Apologies for the squashed history, the rebase of #13351 got a little hairy and this was ultimately safer.