Beat Küng
2809dd8944
control_allocator: remove min/max/scale params
2021-11-23 12:40:22 -05:00
Beat Küng
b29d9db7f1
control_allocator: limit status publication rate to 200Hz
...
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
2021-11-23 12:40:22 -05:00
Beat Küng
a0e43bca96
msg: remove unused vehicle_actuator_setpoint topic
2021-11-23 12:40:22 -05:00
bresch
d47f9f155a
MC mixer: replace multirotor_motor_limits by control_allocator_status
...
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix
MCRateControl: use control_allocator_status to get saturation info
2021-11-09 10:35:10 -05:00
Beat Küng
3dad79d8f5
control_allocator: inline one-line setters & getters
2021-01-18 11:25:37 -05:00
Beat Küng
0e66b0876b
control_allocator: change SequentialDesaturation to existing MC mixer
...
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.
2021-01-18 11:25:37 -05:00
Julien Lecoeur
343cf5603e
initial control allocation support
...
- control allocation module with multirotor, VTOL standard, and tiltrotor support
- angular_velocity_controller
- See https://github.com/PX4/PX4-Autopilot/pull/13351 for details
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Roman Bapst <bapstroman@gmail.com >
2021-01-18 11:25:37 -05:00
