Thrusters Actuation: add thruster actuation support to PX4 #23143
+906
−4
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Pedro-Roque
added
Flight Controls 🦅
Pedro-Roque
commented
May 16, 2024
| axis_expected = Vector3f{0.f, -1.f, 0.f}; | ||
| axis = ActuatorEffectivenessRotors::tiltedAxis(-M_PI_F / 2.f, M_PI_F / 2.f); | ||
| EXPECT_EQ(axis, axis_expected); | ||
| } |
There was a problem hiding this comment.
This test needs to be removed since it still is for motors .
Pedro-Roque
changed the title
|
This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Solved Problem
This PR addresses support on PX4 for thruster-based actuation, in-view of supporting spacecraft-type vehicles, or any vehicle using thruster-based propulsion.
This PR addresses control allocation changes.
This PR aims at integrating these additions, which will soon be published and updated on the source code, into the PX4 ecosystem to support space robotics facilities.
Solution
Changelog Entry
For release notes:
Alternatives
Reusing multicopter code. However, there are multiple problems associated with it:
Test coverage
Format and Unit tests pass successfully.
Context
Currently being integrated in https://github.com/DISCOWER/PX4-Space-Systems/tree/dev-metric_control_allocator, as part of the DISCOWER project (a publication documenting this contribution as well as the entire lab facilities will be published by the end of August). Work developed together with @Jaeyoung-Lim and @E-Krantz .