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Control Allocator: Metric #24199
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Control Allocator: Metric #24199
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🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 40 byte (0 %)]
px4_fmu-v6x [Total VM Diff: 40 byte (0 %)]
Updated: 2025-01-13T21:02:10 |
Keep actuator effectivenss in control allocator
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bool update_normalization_scale) | ||
{ | ||
ControlAllocation::setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, num_actuators, | ||
update_normalization_scale); |
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Is update_normalization_scale
ever used?
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Not by metric allocator. It is used here in ControlAllocationPseudoInverse.cpp lines 53 and 62.
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The issue is that if this is removed, than the code in
PX4-Autopilot/src/modules/control_allocator/ControlAllocator.cpp
Lines 592 to 593 in 5147394
_control_allocation[i]->setEffectivenessMatrix(config.effectiveness_matrices[i], config.trim[i], | |
config.linearization_point[i], total_num_actuators, reason == EffectivenessUpdateReason::CONFIGURATION_UPDATE); |
I can, however, remove it to avoid confusion and assume that if the user wishes to use it with control_allocator, there will be trouble. Perhaps that's the correct way?
@Jaeyoung-Lim I set the parameter to false to make it clear that we don't care about normalization in metric allocator. |
Solved Problem
Adds metric control allocation (ie non-normalized) to make possible model-based control schemes.
Solution
sc
in https://github.com/DISCOWER/PX4-Space-Systems/tree/dev-sc_ctl_alloc/src/modules/sc_control_allocator )Changelog Entry
For release notes:
Test coverage
Context
Depends on #24196