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Multirotor mixers 6dof #1

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wants to merge 48 commits into from
Closed

Multirotor mixers 6dof #1

wants to merge 48 commits into from

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jlecoeur
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@jlecoeur jlecoeur commented Nov 5, 2017

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@jlecoeur
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jlecoeur commented Nov 5, 2017

Short video demonstrating "Go to location". Missions also work.
short video

jlecoeur added 20 commits November 6, 2017 11:39
@jlecoeur
Mixers: use key list to select multirotor mixer
9c17e51
@jlecoeur
CircleCI: install python-toml
43f5f0c
@jlecoeur
Mixers: Generate from geometry description files
56712ad 
Mixers: List geom files in CMakeLists.txt

Mixers: add option to normalize like legacy script

Fix py2 compatibility
@jlecoeur
Mixers: generate all versions (new,normalized,6dof,legacy)
89bdc33
@jlecoeur
Mixers: Add geometries
900751c 
Mixers: add quad_x, quad_h, quad_plus

Mixers: add quad_deadcat

Set quad_deadcat.toml according to dimensions of SK450 deadcat

Mixers: add hex_x, hex_plus, hex_cox and hex_t

Mixers: add geoms octa_x, octa_plus, octa_cox

Mixers: add wide geoms

Mixers: add tri_y and twin_engine geoms

Mixers: add dodeca geoms

Mixers: Add geom quad_x_pusher
@jlecoeur
Mixers: Use geometry of SK450 deadcat for both quad_wide (centered CG…
e6017dd 
…) and quad_deadcat (off-centered CG)
@jlecoeur
Mixers: add geoms quad_vtail (tilted props) and quad_y (rear coax props)
0ebce8e 
quad_vtail: reverse prop direction (same quad_h) to combine yaw torque induced by propellers and yaw torque induced by tilted rotors.
@jlecoeur
Mixers: raise exception when geom file is incomplete
d45943d 
pylint format
@jlecoeur
Move src/module/systemlib/mixer to src/lib/mixer
6980752
@jlecoeur
Mixers: use os.path.join
839f201
@jlecoeur
Mixers: raise exception if no input geometry is provided
bd71670
@jlecoeur
Mixers: write to stdout if no output file is provided
6548328
@jlecoeur
Mixers: add --verbose option to print matrices
26014f6
@jlecoeur
Mixers: Rename geom -> geometry(ies)
dd26121
@jlecoeur
Move src/lib/mixer/geoms to src/lib/mixer/geometries
b084b9e
@jlecoeur
Mixers: Use geometry filename as mixer name
08d4100
@jlecoeur
Mixers: do not allow several mixers with same name or key
b5f1560
@jlecoeur
Mixers: Add geometry quad_s250aq
ffac5d6
@jlecoeur
Docker: update images to tag 2017-10-23
d50ab07
@jlecoeur
Mixers: Include mixer_multirotor_normalized.generated.h everywhere
60aab18
jlecoeur added 11 commits November 6, 2017 13:10
@jlecoeur
Fix control input of 6 dof mixer [to amend to 58f5de2272528401c693cbd…
e3a7d17 
…7fcc0a04e7732bdd3]
@jlecoeur
mc_position_controller: provide 3d thrust command (WIP)
1690ec3
@jlecoeur
actuator_controls: increase num_actuator_controls
5500c05
@jlecoeur
pwm_out_sim: publish saturation_status
da24142
@jlecoeur
Mixers script: use same normalization for X Y and Z thrust scales
dbb77e4
@jlecoeur
Rename multirotor_motor_limits -> actuator_controls_status
71f1200
@jlecoeur
MultirotorMixers: report which thrust axes are controlled
d3062da
@jlecoeur
Mixer Multirotor6dof: implement prioritized saturation
bb15431
@jlecoeur
mc_pos_control: subscribe to actuator_controls_status
9ad6ee6
@jlecoeur
mc_pos_control: fallback to attitude-based thrust whhen 3d thrust is …
44a9b71 
…not available
@jlecoeur
[to revert] octo_cox_omni.main.mix: commented line to try standard oc…
7404681 
…to coax mixer
@jlecoeur jlecoeur force-pushed the jl/mixers_script branch 3 times, most recently from 19d4bd8 to 7e954a5 Compare November 14, 2017 15:13
@bresch bresch mentioned this pull request Nov 20, 2017
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dagar added a commit to dagar/PX4-Firmware that referenced this pull request Jan 15, 2018
@dagar
WIP jlecoeur 6DOF
d146874 
jlecoeur#1
dagar added a commit to PX4/PX4-Autopilot that referenced this pull request Jan 15, 2018
@dagar
WIP jlecoeur 6DOF
a47d835 
jlecoeur#1
@dagar dagar mentioned this pull request Jan 22, 2018
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@dagar dagar mentioned this pull request Feb 12, 2018
Closed
@jlecoeur jlecoeur mentioned this pull request Apr 12, 2018
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@AuterionWrikeBot AuterionWrikeBot mentioned this pull request Jul 18, 2018
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@Jaeyoung-Lim
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What is the status of this PR? I am very intrested on building a airframe for it!

@jlecoeur
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@Jaeyoung-Lim very outdated !

Hopefully PX4#13351 and PX4#13519 will make it soon into master.
Then, the only thing left to port will the changes made in the MC position controller (1690ec3).

🤞

FYI @RomanBapst @bresch @dagar

@Jaeyoung-Lim
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@Jaeyoung-Lim Pretty awesome! Do you think it would make sense to add 3d force setpoint support for MC position / attitude controller? or do we need a separate Omnicopter attitude controller?

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jlecoeur commented Nov 19, 2019 •
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Now that we have the work queues, it is relatively cheap to separate processing steps into modules.

What would make sense IMO would be to always provide 3D force setpoint in the position controller, then have different "mapping" modules convert it to attitude + 3D thrust based on the current airframe.

  • for multirotors, it would provide attitude setpoint just like now + a thrust setpoint aligned with the Z body axis
  • for omnicopters and VTOL, it would provide attitude + 3D thrust
  • for fixed wing, we can also think of converting the 3D force setpoint into attitude and forward thrust

@Jaeyoung-Lim
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@jlecoeur Thanks for the insights! I would be really excited to see fully actuated systems being enabled

@jlecoeur jlecoeur mentioned this pull request Aug 14, 2020
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@jlecoeur jlecoeur closed this Jul 6, 2023
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@jlecoeur @Jaeyoung-Lim