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Introduce actuator output function parameters #18265

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merged 54 commits into from
Oct 18, 2021
Merged

Introduce actuator output function parameters #18265

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b65e26e
commander: correct lockdown CLI description
bkueng Sep 15, 2021
731f902
fix mixer_module: use PRIx32 for debug printf
bkueng Sep 15, 2021
abdfec0
control allocation: introduce parameter SYS_CTRL_ALLOC & unify build …
bkueng Sep 10, 2021
2d040a3
control_allocator: remove direct mixer, add actuator_{motors,servos} …
bkueng Sep 11, 2021
dce8967
vehicle_command.msg: add VEHICLE_CMD_DO_SET_ACTUATOR
bkueng Sep 11, 2021
890d5a9
mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command
bkueng Sep 14, 2021
e89fc1a
mixer_module: add output functions
bkueng Sep 11, 2021
ff30106
mixer_module: generate output_functions header from yaml file
bkueng Sep 12, 2021
850072e
mixer_module: add output functions for servos, landing gear, parachut…
bkueng Sep 13, 2021
d784fa8
refactor Tools/serial: move non-serial param generation into separate…
bkueng Sep 13, 2021
4ae8eea
refactor output_limit: split output_limit_calc_single into separate f…
bkueng Sep 14, 2021
4829974
generate_params.py: fix parse_yaml_parameters_config
bkueng Sep 14, 2021
875ee42
mixer_module: add param generation for disarmed, min, max, failsafe
bkueng Sep 14, 2021
d54f74c
generate_params.py: extend params 'definitions' section to support a …
bkueng Sep 15, 2021
f5b08ca
params: add script to parse timer_config.cpp for timer group info
bkueng Sep 15, 2021
2fcc301
spracing/h7extreme: use single-line comments instead of multi-lines
bkueng Sep 16, 2021
a5146af
dshot: handle telemetry index correctly when dynamic mixer is used
bkueng Sep 16, 2021
6aa1319
output modules: add param prefix argument to MixingOutput
bkueng Sep 16, 2021
55451c3
uavcan: add dynamic mixing support
bkueng Sep 16, 2021
004cbee
uavcan: reduce sensor status output verbosity
bkueng Sep 16, 2021
d9cca7e
uavcan: implement servo outputs
bkueng Sep 17, 2021
b658fa3
pwm_out, dshot: add dynamic mixing support
bkueng Sep 17, 2021
9052e77
linux_pwm_out: add dynamic mixing support
bkueng Sep 17, 2021
85830bd
pca9685_pwm_out: add dynamic mixing support
bkueng Sep 17, 2021
39719f1
tap_esc: add dynamic mixing support
bkueng Sep 17, 2021
56d1499
uavcan_v1: add dynamic mixing support
bkueng Sep 17, 2021
738839f
pwm_out_sim: add dynamic mixing support
bkueng Sep 17, 2021
b939a40
rc.mc_apps: allow to set COM_PREARM_MODE with control allocation
bkueng Sep 17, 2021
0c73421
px4/fmu-v5: add capture pins to list of pwm pins
bkueng Sep 15, 2021
719afa4
holybro/durandal-v1: add capture pins to list of pwm pins
bkueng Sep 17, 2021
954a6cb
holybro/pix32v5: add capture pins to list of pwm pins
bkueng Sep 17, 2021
c808dbb
modalai/fc-v2: remove unused DIRECT_PWM_CAPTURE_CHANNELS define
bkueng Sep 17, 2021
f259832
px4/fmu-v5x: add capture pins to list of pwm pins
bkueng Sep 17, 2021
4aed991
fmu-v6u: add capture pins to list of pwm pins
bkueng Sep 17, 2021
81d5af6
px4/fmu-v6x: add capture pins to list of pwm pins
bkueng Sep 17, 2021
b179916
pwm_out_sim: use PWM_FMU for sitl and HIL_ACT for hitl
bkueng Sep 17, 2021
084f083
airframes: set output function params for ctrlalloc airframes
bkueng Sep 17, 2021
be1db51
fix pwm_out: ensure up_pwm_servo_arm() is never continuously called
bkueng Sep 20, 2021
d69ac4d
module_schema.yaml: add actuator_output section
bkueng Sep 20, 2021
0c9f781
control_allocator: avoid default argument for virtual method getEffec…
bkueng Sep 20, 2021
d75ee15
output_groups_from_timer_config.py: fix timer index
bkueng Oct 5, 2021
63473ab
boards/px4/io-v2: swap timer definitions
bkueng Oct 5, 2021
ae2fd5f
params: use PWM_MAIN_* instead of PWM_FMU_*
bkueng Oct 5, 2021
ef372d9
px4io, pwm_out: update pwm default checking
bkueng Oct 5, 2021
18a4218
px4io: add dynamic mixing support
bkueng Oct 5, 2021
bc9144a
ROMFS: disable vtol airframes for kakutef7
bkueng Oct 6, 2021
27b9beb
nxp/fmurt1062-v1: set CONSTRAINED_FLASH
bkueng Oct 6, 2021
718d48b
cubepilot/cubeorange test: disable uavcan to reduce flash usage
bkueng Oct 6, 2021
010b5f2
ci compile_nuttx: disable fail-fast
bkueng Oct 6, 2021
a5ccc0f
boards: px4_fmu-v3_test disable modules to save flash
dagar Oct 6, 2021
4e5b8ef
boards: px4_fmu-v5_uavcanv0periph disable modules to save flash
dagar Oct 6, 2021
e1be42a
boards: px4_fmu-v6x_default disable modules to save flash
dagar Oct 7, 2021
e54288a
fix pwm: only update oneshot timers owned by the current pwm_out inst…
bkueng Oct 8, 2021
564e8a8
px4/fmu-v5 test, uavcanv0periph: disable modules to reduce flash
bkueng Oct 8, 2021
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1 change: 1 addition & 0 deletions .github/workflows/compile_nuttx.yml
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Expand Up @@ -13,6 +13,7 @@ jobs:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-09-08
strategy:
fail-fast: false
matrix:
config: [
airmind_mindpx-v2,
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2 changes: 1 addition & 1 deletion Makefile
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Expand Up @@ -464,7 +464,7 @@ shellcheck_all:
@make px4_fmu-v5_default shellcheck

validate_module_configs:
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

# Cleanup
# --------------------------------------------------------------------
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11 changes: 9 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
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Expand Up @@ -8,7 +8,8 @@
#

. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc

param set-default SYS_CTRL_ALLOC 1

param set-default MPC_USE_HTE 0

Expand Down Expand Up @@ -45,4 +46,10 @@ param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05

set MIXER direct
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104

set MIXER skip
set MIXER_AUX none
14 changes: 11 additions & 3 deletions ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
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Expand Up @@ -6,7 +6,8 @@
#

. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc

param set-default SYS_CTRL_ALLOC 1

param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400
Expand Down Expand Up @@ -75,7 +76,14 @@ param set-default CA_MC_R5_PY -0.5
param set-default CA_MC_R5_CT 9.5
param set-default CA_MC_R5_KM -0.05

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106

set MAV_TYPE 13

# set MIXER hexa_x
set MIXER direct
set MIXER skip
set MIXER_AUX none
1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/CMakeLists.txt
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Expand Up @@ -55,5 +55,4 @@ px4_add_romfs_files(
rc.vehicle_setup
rc.vtol_apps
rc.vtol_defaults
rc.ctrlalloc
)
1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
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Expand Up @@ -9,6 +9,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
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Expand Up @@ -19,6 +19,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
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Expand Up @@ -14,6 +14,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
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Expand Up @@ -19,6 +19,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
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Expand Up @@ -17,6 +17,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
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Expand Up @@ -9,6 +9,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
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Expand Up @@ -9,6 +9,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
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Expand Up @@ -18,6 +18,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
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Expand Up @@ -22,6 +22,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
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Expand Up @@ -21,6 +21,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
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Expand Up @@ -14,6 +14,7 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults
Expand Down
12 changes: 8 additions & 4 deletions ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
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Expand Up @@ -11,9 +11,11 @@
#

. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc

set MIXER none
set MIXER skip
set MIXER_AUX none

param set-default SYS_CTRL_ALLOC 1

param set-default MPC_USE_HTE 0

Expand Down Expand Up @@ -50,6 +52,8 @@ param set-default CA_MC_R3_PY 0.177
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05

set MIXER direct
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104

set MIXER_AUX direct_aux
14 changes: 9 additions & 5 deletions ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
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Expand Up @@ -11,8 +11,8 @@
#

. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc

param set-default SYS_CTRL_ALLOC 1
param set-default MPC_USE_HTE 0

param set-default VM_MASS 1.5
Expand Down Expand Up @@ -66,8 +66,12 @@ param set-default CA_MC_R5_PY -0.1375
param set-default CA_MC_R5_CT 6.5
param set-default CA_MC_R5_KM -0.05

set MIXER direct
set PWM_OUT 123456
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106

set MIXER_AUX direct_aux
set PWM_AUX_OUT 123456
set MIXER skip
set MIXER_AUX none
26 changes: 0 additions & 26 deletions ROMFS/px4fmu_common/init.d/rc.ctrlalloc
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16 changes: 11 additions & 5 deletions ROMFS/px4fmu_common/init.d/rc.interface
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Expand Up @@ -96,10 +96,16 @@ then

if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
then
if ! $OUTPUT_CMD start
if param compare SYS_CTRL_ALLOC 1
then
echo "$OUTPUT_CMD start failed"
tune_control play error
pwm_out start
dshot start
else
if ! $OUTPUT_CMD start
then
echo "$OUTPUT_CMD start failed"
tune_control play error
fi
fi
fi
fi
Expand Down Expand Up @@ -214,10 +220,10 @@ fi

if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
then
if [ $PWM_OUT != none ]
if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
then
# Set PWM output frequency.
if [ $PWM_MAIN_RATE != none ]
if ! param compare SYS_CTRL_ALLOC 1
then
pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
fi
Expand Down
16 changes: 16 additions & 0 deletions ROMFS/px4fmu_common/init.d/rc.mc_apps
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Expand Up @@ -48,6 +48,22 @@ fi
# End Estimator Group Selection #
###############################################################################

if param compare SYS_CTRL_ALLOC 1
then
#
# Start Control Allocator
#
control_allocator start

#
# Disable hover thrust estimator and prearming
# These features are currently incompatible with control allocation
#
# TODO: fix
#
param set MPC_USE_HTE 0
fi

#
# Start Multicopter Rate Controller.
#
Expand Down
1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
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Expand Up @@ -44,5 +44,4 @@ px4_add_romfs_files(
tiltrotor_sitl.main.mix
uuv_x_sitl.main.mix
vectored6dof_sitl.main.mix
tiltrotor_sitl_direct.main.mix
)
14 changes: 0 additions & 14 deletions ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl_direct.main.mix
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/mixers/CMakeLists.txt
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Expand Up @@ -46,7 +46,6 @@ px4_add_romfs_files(
coax.main.mix
delta.main.mix
deltaquad.main.mix
direct.main.mix
dodeca_bottom_cox.aux.mix
dodeca_top_cox.main.mix
firefly6.aux.mix
Expand Down
11 changes: 0 additions & 11 deletions ROMFS/px4fmu_common/mixers/direct.main.mix
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