5 Commits

Author	SHA1	Message	Date
Silvan Fuhrer	9e18b351bc	Allocation: add Single Channel Aileron to CS types ... This is the control surface type for airframes that have only a single aileron servo or have the ailerons on a single output channel. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-12 09:43:12 +02:00
Silvan Fuhrer	df0e402c44	CA: refactor logic for matrix updating ... -pass flag EffectivenessUpdateReason into effectiveness, indicating if there was an external update or not. Reasons for external updates are: -config changes (parameter) -motor failure detected or certain redundant motors are switched off to save energy Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-02-14 09:23:10 +01:00
Silvan Fuhrer	1ad66e606b	ControlAllocation: introduce convention for control surface deflection sign ... - horizontal control surfaces: up=positive deflection - vertical control surfaces (rudder): right=positive deflection - mixed (V-Tail): up=positive deflection Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Beat Küng	4c80adfaf1	control_allocator: implement trim + slew rate limits configuration	2021-12-24 20:06:13 -05:00
Beat Küng	70e46a194f	control_allocator: major refactoring & additions ... - allow effectiveness matrix to select control allocator method (desaturation algorithm) - add actuator_servos publication - add support for multiple matrices (for vtol) - add updateSetpoint callback method to actuator effectiveness to allow it to manipulate the actuator setpoint after allocation - handle motor stopping & reversal - add control surfaces & tilt servos - handle standard vtol + tiltrotor - rename MC rotors params & class to be more generically usable - fixes and enables ActuatorEffectivenessRotorsTest	2021-12-24 20:06:13 -05:00