mixer

Command mixer for mapping thrust/moment demands to rotor speeds.

类：

名称	描述
Mixer	Map thrust and moment demands to rotor commands.

Mixer

Mixer(params: VehicleParams = VehicleParams(), verbose=False)

Map thrust and moment demands to rotor commands.

Note

电机推力分配： 电机1 = 推力 - 横滚(roll) + 俯仰(pitch) + 偏航(yaw) 电机2 = 推力 + 横滚(roll) - 俯仰(pitch) + 偏航(yaw) 电机3 = 推力 + 横滚(roll) + 俯仰(pitch) - 偏航(yaw) 电机4 = 推力 - 横滚(roll) - 俯仰(pitch) - 偏航(yaw)

Initialize the mixer with vehicle parameters and mixer matrix.

方法：

名称	描述
apply_thrust_curve	Apply thrust curve to normalized thrust command.
calculate_rotor_commands	Allocate thrust and moments into rotor speeds.

属性：

名称	类型	描述
mat		转速平方到推力扭矩
inv_mat		推力扭矩到转速平方
max_rpm_sq		最大转速平方
min_rpm_sq		最小转速平方
max_wrench		单桨最大推力/力矩
min_wrench		单桨最小推力/力矩
max_collective_thrust		最大总推力

mat instance-attribute

mat = array([[cT * cos(alpha)] * 4, [cT * cos(alpha) * y] * 4, [cT * cos(alpha) * x] * 4, [cT * sin(alpha) * x + cM] * 4]) * array([[1, 1, 1, 1], [-1, 1, 1, -1], [-1, 1, -1, 1], [1, 1, -1, -1]])

转速平方到推力扭矩

inv_mat instance-attribute

inv_mat = pinv(mat)

推力扭矩到转速平方

max_rpm_sq instance-attribute

max_rpm_sq = max_rpm ** 2

最大转速平方

min_rpm_sq instance-attribute

min_rpm_sq = init_rpm ** 2

最小转速平方

max_wrench instance-attribute

max_wrench = mat[:, 1] * max_rpm_sq

单桨最大推力/力矩

min_wrench instance-attribute

min_wrench = mat[:, 1] * min_rpm_sq

单桨最小推力/力矩

max_collective_thrust instance-attribute

max_collective_thrust = max_wrench[0] * 4.0

最大总推力

apply_thrust_curve

apply_thrust_curve(normalized_thrust: float, mode: int = 1) -> float

Apply thrust curve to normalized thrust command.

References

• cmd_ctatt: https://github.com/PX4/PX4-Autopilot/blob/e5a483e4b71ab4b994cb0121fe28992d8ce0c8cd/src/modules/mc_att_control/mc_att_control_main.cpp#L111-L137
• cmd_ctbr: https://github.com/PX4/PX4-Autopilot/blob/e5a483e4b71ab4b994cb0121fe28992d8ce0c8cd/src/modules/mc_rate_control/MulticopterRateControl.cpp#L156-L179

参数：

名称	类型	描述	默认
normalized_thrust	float	Normalized thrust command [-1, 1].	必需
mode	int	Thrust curve mode.	1

返回：

名称	类型	描述
float	float	Total thrust in Newtons.

引发：

类型	描述
NotImplementedError	If the specified mode is not implemented.

calculate_rotor_commands

calculate_rotor_commands(control: ndarray) -> np.ndarray

Allocate thrust and moments into rotor speeds.

参数：

名称	类型	描述	默认
control	ndarray	Desired total thrust and roll/pitch/yaw moments. Shape: (4,).	必需

返回：

类型	描述
ndarray	np.ndarray: The amplitude of each motor's rotational speed (calculated using sqrt(clip(rpm_sq))). Shape: (4,).