432 new mixing system #438
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…t_firmware into 432-new-mixing-system
…and 14 equations to calculate the max thrust given a throttle setting (since RC commands come in as throttle settings, not forces).
…bility under aggressive maneuvers
…'t work in the current implementation
…calculating max thrust
bsutherland333
requested changes
Oct 15, 2024
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I think that before we merge this we should look at ways to make the unit test not freak out at the build. I wonder if we could just make the compilation a little more lax? Give an exception for Eigen? I'm not sure. |
avtoku
reviewed
Oct 15, 2024
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I think the approach needs some more discussion. I would rather start with just a mixer matrix that can be loaded from the companion computer, or from selected standard cases, and stored as parameters. |
…e mixed with multirotor
iandareid
reviewed
Dec 2, 2024
iandareid
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iandareid
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iandareid
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iandareid
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iandareid
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iandareid
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iandareid
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iandareid
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iandareid
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… array of pointers
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Updated the mixer for multirotors to make it based on the Chapter 14 implementation. For multirotors, since the output of the controller is forces and torques, the mixer computes the desired angular speeds based on the motor model parameters.
For fixedwing vehicles, the mixer architectre stayed the same, since ROSplane (and RC) commands come in as control surface delta commands, or as a throttle setting.
Note that this PR does not expand the mixing definition to include forces in all three axes, and it doesn't add support for a dynamically-changing mixing matrix, both of which were mentioned in #432. The architecture currently only supports a "fixedwing" or "multirotor" mixing mode. The other changes will happen when we need to support them (i.e. for quadplane or tiltrotor).