CA: add thust vectoring actuator effectiveness

src/modules/control_allocator/ControlAllocator.cpp

@@ -270,6 +270,10 @@ ControlAllocator::update_effectiveness_source()
 			tmp = new ActuatorEffectivenessHelicopterCoaxial(this);
 			break;
 
+		case EffectivenessSource::THRUST_VECTORING:
+			tmp = new ActuatorEffectivenessThrustVectoring(this);
+			break;
+
 		default:
 			PX4_ERR("Unknown airframe");
 			break;

src/modules/control_allocator/ControlAllocator.hpp

@@ -44,6 +44,7 @@
 #include <ActuatorEffectiveness.hpp>
 #include <ActuatorEffectivenessMultirotor.hpp>
 #include <ActuatorEffectivenessStandardVTOL.hpp>
+#include <ActuatorEffectivenessThrustVectoring.hpp>
 #include <ActuatorEffectivenessTiltrotorVTOL.hpp>
 #include <ActuatorEffectivenessTailsitterVTOL.hpp>
 #include <ActuatorEffectivenessRoverAckermann.hpp>
@@ -158,6 +159,7 @@ class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParam
 		HELICOPTER_TAIL_ESC = 10,
 		HELICOPTER_TAIL_SERVO = 11,
 		HELICOPTER_COAXIAL = 12,
+		THRUST_VECTORING = 14,
 	};
 
 	enum class FailureMode {

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp

@@ -186,3 +186,11 @@ void ActuatorEffectivenessControlSurfaces::applySpoilers(float spoilers_control,
 		actuator_sp(i + first_actuator_idx) += _spoilers_setpoint_with_slewrate.getState() * _params[i].scale_spoiler;
 	}
 }
+
+void ActuatorEffectivenessControlSurfaces::applyScale(float scale, int first_actuator_idx,
+		ActuatorVector &actuator_sp) const
+{
+	for (int i = 0; i < _count; ++i) {
+		actuator_sp(i + first_actuator_idx) *= scale;
+	}
+}

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp

@@ -91,6 +91,7 @@ class ActuatorEffectivenessControlSurfaces : public ModuleParams, public Actuato
 
 	void applyFlaps(float flaps_control, int first_actuator_idx, float dt, ActuatorVector &actuator_sp);
 	void applySpoilers(float spoilers_control, int first_actuator_idx, float dt, ActuatorVector &actuator_sp);
+	void applyScale(float scale, int first_actuator_idx, ActuatorVector &actuator_sp) const;
 
 private:
 	void updateParams() override;

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessThrustVectoring.cpp

@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ActuatorEffectivenessThrustVectoring.hpp"
+
+using namespace matrix;
+
+ActuatorEffectivenessThrustVectoring::ActuatorEffectivenessThrustVectoring(ModuleParams *parent)
+	: ModuleParams(parent),
+	  _rotors(this, ActuatorEffectivenessRotors::AxisConfiguration::FixedUpwards),
+	  _control_surfaces(this)
+{
+}
+
+bool
+ActuatorEffectivenessThrustVectoring::getEffectivenessMatrix(Configuration &configuration,
+		EffectivenessUpdateReason external_update)
+{
+	if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
+		return false;
+	}
+
+	// Motors
+	_rotors.enablePropellerTorque(false);
+	const bool rotors_added_successfully = _rotors.addActuators(configuration);
+
+	// Control Surfaces
+	_first_control_surface_idx = configuration.num_actuators_matrix[0];
+	const bool surfaces_added_successfully = _control_surfaces.addActuators(configuration);
+
+	return (rotors_added_successfully && surfaces_added_successfully);
+}
+
+void ActuatorEffectivenessThrustVectoring::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+		const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
+{
+	esc_status_s esc_status;
+	hrt_abstime now = hrt_absolute_time();
+	float rpm = 0.f;
+
+	if (_esc_status_sub.copy(&esc_status) && (now < esc_status.timestamp + 1_s)) {
+
+		for (size_t esc = 0; esc < math::min(esc_status.esc_count, (uint8_t)MAX_NUM_ESCS); esc++) {
+			const esc_report_s &esc_report = esc_status.esc[esc];
+
+			const bool esc_connected = (esc_status.esc_online_flags & (1 << esc)) || (esc_report.esc_rpm != 0);
+
+			if (esc_connected && (now < esc_report.timestamp + 1_s)) {
+				rpm = esc_report.esc_rpm;
+				break;
+			}
+		}
+	}
+
+	constexpr float propeller_coefficient = 1.f / (20000.f * 20000.f); // scale down the thrust
+	float thrust = rpm * rpm * propeller_coefficient;
+
+	// Use thrust setpoint if there is no ESC telemetry available
+	if (thrust < FLT_EPSILON) {
+		vehicle_thrust_setpoint_s vehicle_thrust_setpoint;
+
+		if (_vehicle_thrust_setpoint_sub.copy(&vehicle_thrust_setpoint)) {
+			thrust = vehicle_thrust_setpoint.xyz[2];
+		}
+	}
+
+	const float scale = 1.f / fmaxf(thrust, 0.2f);
+	_control_surfaces.applyScale(scale, _first_control_surface_idx, actuator_sp);
+}

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessThrustVectoring.hpp

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "ActuatorEffectiveness.hpp"
+#include "ActuatorEffectivenessRotors.hpp"
+#include "ActuatorEffectivenessControlSurfaces.hpp"
+
+#include <uORB/topics/esc_status.h>
+#include <uORB/topics/vehicle_thrust_setpoint.h>
+
+class ActuatorEffectivenessThrustVectoring : public ModuleParams, public ActuatorEffectiveness
+{
+public:
+	ActuatorEffectivenessThrustVectoring(ModuleParams *parent);
+	virtual ~ActuatorEffectivenessThrustVectoring() = default;
+
+	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
+
+	const char *name() const override { return "Thrust Vectoring"; }
+
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+			    const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
+
+private:
+	static constexpr int MAX_NUM_ESCS = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]);
+
+	ActuatorEffectivenessRotors _rotors;
+	ActuatorEffectivenessControlSurfaces _control_surfaces;
+
+	uORB::Subscription _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint)};
+	uORB::Subscription _esc_status_sub {ORB_ID(esc_status)};
+
+	int _first_control_surface_idx{0};
+};

src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt

@@ -15,6 +15,8 @@ px4_add_library(VehicleActuatorEffectiveness
 	ActuatorEffectivenessMCTilt.hpp
 	ActuatorEffectivenessMultirotor.cpp
 	ActuatorEffectivenessMultirotor.hpp
+	ActuatorEffectivenessThrustVectoring.cpp
+	ActuatorEffectivenessThrustVectoring.hpp
 	ActuatorEffectivenessTilts.cpp
 	ActuatorEffectivenessTilts.hpp
 	ActuatorEffectivenessRotors.cpp

src/modules/control_allocator/module.yaml

@@ -31,6 +31,7 @@ parameters:
                 11: Helicopter (tail Servo)
                 12: Helicopter (Coaxial)
                 13: Rover (Mecanum)
+                14: Thrust Vectoring
             default: 0
 
         CA_METHOD: