Helicopter main rotor rpm control #24096

MaEtUgR · 2024-12-11T19:43:24Z

Solved Problem

PX4 currently has no support to control the main rotor's RPM on the autopilot. This should in my eyes be avoided and an ESC with RPM control used if possible but in the following cases that's not so easily possible:

Cheap RC helicopters where the ESC cannot do this and just has a plug for rpm feedback pulses and a duty cycle signal input.
More complex helicopters where you have two motors with a freewheel for redundancy. There each motor needs an ESC and even if they do rpm control you somehow need to make sure the load is shared equally in the normal use case. Then it can make sense to do the rpm control on the autopilot directly and control both ESCs with a command producing roughly the same load.
If a separate e.g. more accurate rpm sensor is used which cannot be hooked up as telemetry for the ESC. Note this is also the case if you have any freewheel between motor and rotor.

Solution

Following up on #23931 and #24041 we now have the pieces to do a clean helicopter rpm controller for the main rotor.

Changelog Entry

Feature: Helicopter main rotor rpm control

Test coverage

We successfully used the version in the first commit on a real helicopter before it was ported and changed again to clean up and improve for this pull request. We'll follow up with more improvements and new bench tests.

Context

To be added from bench test results.

github-actions · 2024-12-16T17:45:03Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 1864 byte (0.09 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.1% +1.82Ki  +0.1% +1.82Ki    .text
  [NEW]    +640  [NEW]    +640    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
   +17%    +360   +17%    +360    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +252  [NEW]    +252    ../../src/lib/pid/PID.cpp
  +0.1%    +226  +0.1%    +226    [section .text]
  +0.1%    +211  +0.1%    +211    ROMFS/nsh_romfsimg.c
  +0.4%    +112  +0.4%    +112    ../../src/lib/parameters/parameters.cpp
  +0.3%     +64  +0.3%     +64    ../../src/modules/commander/Commander.cpp
   +60%     +12   +60%     +12    msg/topics_sources/rover_mecanum_status.cpp
  +0.1%      +4  +0.1%      +4    ../../src/modules/ekf2/EKF/yaw_estimator/EKFGSF_yaw.cpp
  +0.2%      +3  +0.2%      +3    ../../src/systemcmds/ver/ver.cpp
 -12.5%      -4 -12.5%      -4    msg/topics_sources/rpm.cpp
  -0.1%      -8  -0.1%      -8    ../../src/modules/control_allocator/ControlAllocator.cpp
 -28.6%      -8 -28.6%      -8    msg/topics_sources/rc_parameter_map.cpp
+0.2% +3.84Ki  [ = ]       0    .debug_abbrev
  [NEW] +1.15Ki  [ = ]       0    ../../src/lib/pid/PID.cpp
   +11%     +56  [ = ]       0    ../../src/lib/version/version.c
  +4.9%    +144  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +2.50Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
+0.1%    +200  [ = ]       0    .debug_aranges
  [NEW]     +56  [ = ]       0    ../../src/lib/pid/PID.cpp
  -5.0%      -8  [ = ]       0    ../../src/lib/version/version.c
  +0.9%      +8  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +11%     +24  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +120  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
+0.1%    +560  [ = ]       0    .debug_frame
+0.2% +54.3Ki  [ = ]       0    .debug_info
  +0.1%     +24  [ = ]       0    ../../src/drivers/batt_smbus/batt_smbus.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/dshot/DShot.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/heater/heater.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/lights/rgbled/rgbled.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/lights/rgbled_is31fl3195/rgbled_is31fl3195.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/osd/msp_osd/msp_osd.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina226/ina226.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina226/ina226_main.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina228/ina228.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina228/ina228_main.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina238/ina238.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina238/ina238_main.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/pwm_out/PWMOut.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/px4io/px4io.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/rc/crsf_rc/CrsfRc.cpp
 -99.6% +53.9Ki  [ = ]       0    [173 Others]
+0.1% +5.81Ki  [ = ]       0    .debug_line
  +0.3%     +66  [ = ]       0    ../../src/lib/parameters/parameters.cpp
  [NEW] +1.19Ki  [ = ]       0    ../../src/lib/pid/PID.cpp
  -1.3%     -25  [ = ]       0    ../../src/lib/version/version.c
  +0.3%     +87  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +16%    +905  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +3.61Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +0.1%     +13  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  -0.5%      -6  [ = ]       0    task/task_cancelpt.c
+0.1% +6.97Ki  [ = ]       0    .debug_loc
  -0.1%     -15  [ = ]       0    ../../src/drivers/px4io/px4io.cpp
  +0.2%     +15  [ = ]       0    ../../src/drivers/rc/crsf_rc/CrsfRc.cpp
  +0.0%     +13  [ = ]       0    ../../src/drivers/uavcan/uavcan_main.cpp
  -0.0%     -10  [ = ]       0    ../../src/drivers/uavcan/uavcan_servers.cpp
  +0.1%     +15  [ = ]       0    ../../src/lib/battery/battery.cpp
  -0.1%     -15  [ = ]       0    ../../src/lib/collision_prevention/CollisionPrevention.cpp
  +0.1%     +16  [ = ]       0    ../../src/lib/mixer_module/mixer_module.cpp
  -0.2%     -52  [ = ]       0    ../../src/lib/parameters/parameters.cpp
  [NEW]    +516  [ = ]       0    ../../src/lib/pid/PID.cpp
  -0.2%     -15  [ = ]       0    ../../src/lib/rtl/rtl_time_estimator.cpp
  -0.1%     -15  [ = ]       0    ../../src/modules/airspeed_selector/airspeed_selector_main.cpp
  +0.2%     +15  [ = ]       0    ../../src/modules/camera_feedback/CameraFeedback.cpp
  +0.9%    +387  [ = ]       0    ../../src/modules/commander/Commander.cpp
  +0.4%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/accelerometerCheck.cpp
  +0.6%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/baroCheck.cpp
  +0.3%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
  +0.1%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
  +0.4%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/gyroCheck.cpp
  +0.2%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp
  +0.3%     +15  [ = ]       0    ../../src/modules/commander/ModeManagement.cpp
 -99.7% +6.04Ki  [ = ]       0    [21 Others]
+0.2% +2.52Ki  [ = ]       0    .debug_ranges
  +0.4%     +56  [ = ]       0    ../../src/lib/parameters/parameters.cpp
  [NEW]     +64  [ = ]       0    ../../src/lib/pid/PID.cpp
  -2.6%      -8  [ = ]       0    ../../src/lib/version/version.c
  +0.2%     +24  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +39%    +784  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +1.42Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  -0.1%      -8  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +0.4%    +208  [ = ]       0    [section .debug_ranges]
  +1.5%      +1  [ = ]       0    task/task_cancelpt.c
+0.1% +3.94Ki  [ = ]       0    .debug_str
  +0.2%     +99  [ = ]       0    
  -3.1%      -5  [ = ]       0    ../../platforms/nuttx/src/px4/common/print_load.cpp
  +0.1%     +43  [ = ]       0    ../../src/drivers/batt_smbus/batt_smbus.cpp
  [NEW]     +45  [ = ]       0    ../../src/lib/pid/PID.cpp
  +0.0%     +24  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +63%    +980  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +276  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +8.0% +2.52Ki  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +0.0%     +33  [ = ]       0    ../../src/modules/flight_mode_manager/FlightModeManager.cpp
  -0.2%     -24  [ = ]       0    ../../src/modules/mc_att_control/mc_att_control_main.cpp
  -0.2%      -9  [ = ]       0    ../../src/modules/sensors/vehicle_imu/VehicleIMU.cpp
  -0.6%      -1  [ = ]       0    msg/topics_sources/rover_ackermann_status.cpp
  +0.0%      +3  [ = ]       0    src/modules/flight_mode_manager/FlightTasks_generated.cpp
  -0.0%     -10  [ = ]       0    src/modules/mavlink/modules__mavlink_unity.cpp
+1.0%      +2  [ = ]       0    .shstrtab
+0.1%    +502  [ = ]       0    .strtab
  [NEW]     +96  [ = ]       0    ../../src/lib/pid/PID.cpp
  -8.1%     -32  [ = ]       0    ../../src/lib/version/version.c
  +2.0%     +78  [ = ]       0    ../../src/modules/commander/Commander.cpp
  +8.5%     +96  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +183  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +1.2%      +9  [ = ]       0    ../../src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
  +0.1%     +72  [ = ]       0    [section .strtab]
+0.1%    +688  [ = ]       0    .symtab
  +2.5%     +16  [ = ]       0    ../../src/drivers/magnetometer/st/iis2mdc/iis2mdc.cpp
  +2.3%     +16  [ = ]       0    ../../src/drivers/uavcan/libdronecan/libuavcan/src/transport/uc_can_io.cpp
  [NEW]    +176  [ = ]       0    ../../src/lib/pid/PID.cpp
  -7.0%     -64  [ = ]       0    ../../src/lib/version/version.c
  +0.7%     +32  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +24%    +144  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +240  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +3.2%     +16  [ = ]       0    ../../src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
  +0.9%     +16  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  -0.9%     -16  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
  +0.3%     +16  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  +0.2%     +96  [ = ]       0    [section .symtab]
-11.0% -1.82Ki  [ = ]       0    [Unmapped]
+0.2% +79.3Ki  +0.1% +1.82Ki    TOTAL

px4_fmu-v6x [Total VM Diff: 1696 byte (0.09 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.1% +1.66Ki  +0.1% +1.66Ki    .text
  [NEW]    +640  [NEW]    +640    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
   +17%    +360   +17%    +360    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +252  [NEW]    +252    ../../src/lib/pid/PID.cpp
  +0.1%    +230  +0.1%    +230    [section .text]
  +0.1%    +183  +0.1%    +183    ROMFS/nsh_romfsimg.c
  +0.3%     +64  +0.3%     +64    ../../src/modules/commander/Commander.cpp
   +60%     +12   +60%     +12    msg/topics_sources/rover_mecanum_status.cpp
  +0.1%      +4  +0.1%      +4    ../../src/modules/ekf2/EKF/yaw_estimator/EKFGSF_yaw.cpp
  +0.2%      +3  +0.2%      +3    ../../src/systemcmds/ver/ver.cpp
 -12.5%      -4 -12.5%      -4    msg/topics_sources/rpm.cpp
  -0.1%      -8  -0.1%      -8    ../../src/modules/control_allocator/ControlAllocator.cpp
 -28.6%      -8 -28.6%      -8    msg/topics_sources/rc_parameter_map.cpp
  -0.1%     -32  -0.1%     -32    ../../src/lib/parameters/parameters.cpp
+0.2% +3.84Ki  [ = ]       0    .debug_abbrev
  [NEW] +1.15Ki  [ = ]       0    ../../src/lib/pid/PID.cpp
   +11%     +56  [ = ]       0    ../../src/lib/version/version.c
  +4.9%    +144  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +2.50Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
+0.1%    +200  [ = ]       0    .debug_aranges
  [NEW]     +56  [ = ]       0    ../../src/lib/pid/PID.cpp
  -5.0%      -8  [ = ]       0    ../../src/lib/version/version.c
  +0.9%      +8  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +11%     +24  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +120  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
+0.1%    +548  [ = ]       0    .debug_frame
+0.2% +53.6Ki  [ = ]       0    .debug_info
  +0.1%     +24  [ = ]       0    ../../src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/dshot/DShot.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/heater/heater.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/lights/rgbled/rgbled.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/lights/rgbled_is31fl3195/rgbled_is31fl3195.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/osd/msp_osd/msp_osd.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina226/ina226.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina226/ina226_main.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina228/ina228.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina228/ina228_main.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina238/ina238.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/ina238/ina238_main.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.cpp
  +0.1%     +24  [ = ]       0    ../../src/drivers/pwm_out/PWMOut.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/px4io/px4io.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/rc_input/RCInput.cpp
  +0.0%     +24  [ = ]       0    ../../src/drivers/uavcan/actuators/esc.cpp
 -99.6% +53.1Ki  [ = ]       0    [162 Others]
+0.1% +5.72Ki  [ = ]       0    .debug_line
  -0.1%     -29  [ = ]       0    ../../src/lib/parameters/parameters.cpp
  [NEW] +1.19Ki  [ = ]       0    ../../src/lib/pid/PID.cpp
  -1.3%     -25  [ = ]       0    ../../src/lib/version/version.c
  +0.3%     +87  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +16%    +905  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +3.61Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +0.1%     +13  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +0.0%      +1  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
  -0.4%      -5  [ = ]       0    task/task_cancelpt.c
+0.1% +7.20Ki  [ = ]       0    .debug_loc
  -0.1%     -15  [ = ]       0    ../../src/drivers/px4io/px4io.cpp
  +0.0%     +15  [ = ]       0    ../../src/drivers/uavcan/uavcan_main.cpp
  +0.0%     +15  [ = ]       0    ../../src/drivers/uavcan/uavcan_servers.cpp
  +0.1%     +16  [ = ]       0    ../../src/lib/mixer_module/mixer_module.cpp
  +0.1%     +50  [ = ]       0    ../../src/lib/parameters/parameters.cpp
  [NEW]    +516  [ = ]       0    ../../src/lib/pid/PID.cpp
  +0.9%    +372  [ = ]       0    ../../src/modules/commander/Commander.cpp
  +0.0%      +1  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp
  +0.0%      +2  [ = ]       0    ../../src/modules/commander/failure_detector/FailureDetector.cpp
   +33% +1.95Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  +1.1%     +96  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
  [NEW] +3.40Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +0.7%    +186  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
  -0.1%     -15  [ = ]       0    ../../src/modules/fw_att_control/FixedwingAttitudeControl.cpp
  +0.0%     +15  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  +0.1%     +15  [ = ]       0    ../../src/modules/gyro_calibration/GyroCalibration.cpp
  +0.1%     +15  [ = ]       0    ../../src/modules/mag_bias_estimator/MagBiasEstimator.cpp
  -0.0%     -15  [ = ]       0    ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
  -0.1%     -15  [ = ]       0    ../../src/modules/navigator/rtl.cpp
  -0.2%     -15  [ = ]       0    ../../src/modules/navigator/rtl_direct.cpp
 -99.9%    +649  [ = ]       0    [10 Others]
+0.2% +2.46Ki  [ = ]       0    .debug_ranges
  [NEW]     +64  [ = ]       0    ../../src/lib/pid/PID.cpp
  -2.6%      -8  [ = ]       0    ../../src/lib/version/version.c
  +0.2%     +24  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +39%    +784  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +1.42Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  -0.1%      -8  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +0.4%    +208  [ = ]       0    [section .debug_ranges]
  -4.5%      -3  [ = ]       0    task/task_cancelpt.c
+0.1% +3.93Ki  [ = ]       0    .debug_str
  +0.2%     +99  [ = ]       0    
  -3.1%      -5  [ = ]       0    ../../platforms/nuttx/src/px4/common/print_load.cpp
  +0.1%     +43  [ = ]       0    ../../src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
  [NEW]     +45  [ = ]       0    ../../src/lib/pid/PID.cpp
  +0.0%     +24  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +64%    +980  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +276  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +8.0% +2.52Ki  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +0.0%     +11  [ = ]       0    ../../src/modules/flight_mode_manager/FlightModeManager.cpp
  -0.2%     -24  [ = ]       0    ../../src/modules/mc_att_control/mc_att_control_main.cpp
  +0.0%     +12  [ = ]       0    ../../src/modules/navigator/navigator_main.cpp
  -0.1%      -9  [ = ]       0    ../../src/modules/sensors/vehicle_imu/VehicleIMU.cpp
  -0.6%      -1  [ = ]       0    msg/topics_sources/rover_ackermann_status.cpp
  +0.0%      +1  [ = ]       0    src/modules/flight_mode_manager/FlightTasks_generated.cpp
  -0.0%     -10  [ = ]       0    src/modules/mavlink/modules__mavlink_unity.cpp
+0.9%      +2  [ = ]       0    .shstrtab
+0.1%    +502  [ = ]       0    .strtab
  [NEW]     +96  [ = ]       0    ../../src/lib/pid/PID.cpp
  -8.1%     -32  [ = ]       0    ../../src/lib/version/version.c
  +2.0%     +78  [ = ]       0    ../../src/modules/commander/Commander.cpp
  +8.5%     +96  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +183  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +1.2%      +9  [ = ]       0    ../../src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
  +0.1%     +72  [ = ]       0    [section .strtab]
+0.1%    +688  [ = ]       0    .symtab
   +17%     +16  [ = ]       0    ../../platforms/common/uORB/SubscriptionInterval.cpp
  -1.2%     -16  [ = ]       0    ../../src/drivers/pwm_out/PWMOut.cpp
  +2.3%     +16  [ = ]       0    ../../src/drivers/uavcan/libdronecan/libuavcan/src/transport/uc_can_io.cpp
  [NEW]    +176  [ = ]       0    ../../src/lib/pid/PID.cpp
  -7.0%     -64  [ = ]       0    ../../src/lib/version/version.c
  +0.7%     +32  [ = ]       0    ../../src/modules/commander/Commander.cpp
   +24%    +144  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +240  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +3.2%     +16  [ = ]       0    ../../src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
  +0.9%     +16  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  -2.1%     -16  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
  +0.3%     +16  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  +0.2%     +96  [ = ]       0    [section .symtab]
   +33%     +16  [ = ]       0    msg/topics_sources/rpm.cpp
-2.3% -1.66Ki  [ = ]       0    [Unmapped]
+0.2% +78.6Ki  +0.1% +1.66Ki    TOTAL

Updated: 2024-12-19T18:46:40

MaEtUgR · 2024-12-17T20:11:55Z

Finally I reached a point where it's clean and working nicely in the bench tests 🎉
Here are some plots of the closed loop.

…the convention

…undant information

… (anymore)

MaEtUgR added the Helicopter 🚁 label Dec 11, 2024

MaEtUgR assigned oravla5 and MaEtUgR Dec 11, 2024

MaEtUgR force-pushed the rpm-sensing branch from bdec521 to d5f0959 Compare December 12, 2024 14:39

MaEtUgR force-pushed the helicopter-rpm-control branch 2 times, most recently from ed0129a to 317bc0b Compare December 16, 2024 17:39

MaEtUgR force-pushed the helicopter-rpm-control branch 2 times, most recently from 29c13d1 to c838adb Compare December 17, 2024 20:03

MaEtUgR changed the title ~~[WIP] Helicopter main rotor rpm control~~ Helicopter main rotor rpm control Dec 17, 2024

MaEtUgR force-pushed the rpm-sensing branch from d5f0959 to 98b88ea Compare December 17, 2024 20:05

MaEtUgR force-pushed the helicopter-rpm-control branch from c838adb to e49844d Compare December 17, 2024 20:05

MaEtUgR marked this pull request as ready for review December 17, 2024 20:06

MaEtUgR force-pushed the rpm-sensing branch 2 times, most recently from e9ea271 to de04cb1 Compare December 18, 2024 17:21

Base automatically changed from rpm-sensing to main December 19, 2024 06:30

bresch self-requested a review December 19, 2024 09:53

MaEtUgR force-pushed the helicopter-rpm-control branch from e49844d to 004364a Compare December 19, 2024 15:29

MaEtUgR and others added 11 commits December 19, 2024 19:40

ControlAllocator: introduce helicopter rotor rpm controller

a0aee8f

RpmControl: class clean up

ddae928

RpmControl: name current timestamp now following the convention

1ab7c76

RpmControl: call local message instance after message name following …

d40c756

…the convention

RpmControl: remove status message because it by now only contains red…

57a89aa

…undant information

RpmControl: maximum rpm outliers are now caught by RpmCapture

73a8c55

RpmControl: split into cpp source file fixing includes

86c8af9

RpmControl: simplify the entire control logic

a201a4e

Commander: start timer for auto disarm after spoolup

6bd9c70

Helicopter defaults: don't auto disarm so quickly after spoolup

214d710

RpmControl: Better consider the case where there's no rpm measurement…

0a016df

… (anymore)

MaEtUgR force-pushed the helicopter-rpm-control branch from 004364a to 0a016df Compare December 19, 2024 18:40

bresch approved these changes Jan 3, 2025

View reviewed changes

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Helicopter main rotor rpm control #24096

Helicopter main rotor rpm control #24096

MaEtUgR commented Dec 11, 2024

github-actions bot commented Dec 16, 2024 •

edited

Loading

MaEtUgR commented Dec 17, 2024

Helicopter main rotor rpm control #24096

Are you sure you want to change the base?

Helicopter main rotor rpm control #24096

Conversation

MaEtUgR commented Dec 11, 2024

Solved Problem

Solution

Changelog Entry

Test coverage

Context

github-actions bot commented Dec 16, 2024 • edited Loading

🔎 FLASH Analysis

MaEtUgR commented Dec 17, 2024

github-actions bot commented Dec 16, 2024 •

edited

Loading