[WIP] 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.

…the convention

…undant information

github-actions · 2024-12-16T17:45:03Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 1800 byte (0.09 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.1% +1.76Ki  +0.1% +1.76Ki    .text
  [NEW]    +612  [NEW]    +612    ../../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%    +250  +0.1%    +250    [section .text]
  +0.1%    +163  +0.1%    +163    ROMFS/nsh_romfsimg.c
  +1.8%     +92  +1.8%     +92    ../../src/modules/logger/logged_topics.cpp
  +0.3%     +80  +0.3%     +80    ../../src/lib/parameters/parameters.cpp
   +60%     +12   +60%     +12    msg/topics_sources/rover_mecanum_status.cpp
  +0.2%      +3  +0.2%      +3    ../../src/systemcmds/ver/ver.cpp
  -0.1%      -4  -0.1%      -4    ../../src/modules/mag_bias_estimator/MagBiasEstimator.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/register_ext_component_request.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%    +192  [ = ]       0    .debug_aranges
  [NEW]     +56  [ = ]       0    ../../src/lib/pid/PID.cpp
  -5.0%      -8  [ = ]       0    ../../src/lib/version/version.c
   +11%     +24  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +120  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
+0.1%    +524  [ = ]       0    .debug_frame
+0.2% +54.4Ki  [ = ]       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    [174 Others]
+0.1% +5.70Ki  [ = ]       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
   +16%    +905  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +3.56Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +0.1%     +13  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +0.9%     +58  [ = ]       0    ../../src/modules/logger/logged_topics.cpp
+0.1% +6.57Ki  [ = ]       0    .debug_loc
  -0.0%     -14  [ = ]       0    ../../src/drivers/uavcan/uavcan_main.cpp
  -0.0%      -2  [ = ]       0    ../../src/drivers/uavcan/uavcan_servers.cpp
  -0.1%     -15  [ = ]       0    ../../src/lib/collision_prevention/CollisionPrevention.cpp
  +0.1%     +15  [ = ]       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
  +0.2%     +15  [ = ]       0    ../../src/modules/camera_feedback/CameraFeedback.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
  +0.0%      +2  [ = ]       0    ../../src/modules/commander/failure_detector/FailureDetector.cpp
   +33% +1.95Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  -0.6%     -48  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
  [NEW] +3.37Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  -0.0%     -16  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp
  +0.0%     +48  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  -0.0%     -17  [ = ]       0    ../../src/modules/fw_rate_control/FixedwingRateControl.cpp
 -100.0%    +764  [ = ]       0    [12 Others]
+0.2% +2.48Ki  [ = ]       0    .debug_ranges
  [NEW]     +64  [ = ]       0    ../../src/lib/pid/PID.cpp
  -2.6%      -8  [ = ]       0    ../../src/lib/version/version.c
   +39%    +784  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +1.41Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  -0.1%      -8  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +4.0%     +56  [ = ]       0    ../../src/modules/logger/logged_topics.cpp
  +0.4%    +208  [ = ]       0    [section .debug_ranges]
  +1.5%      +1  [ = ]       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/batt_smbus/batt_smbus.cpp
  [NEW]     +45  [ = ]       0    ../../src/lib/pid/PID.cpp
   +62%    +967  [ = ]       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%      -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
+0.1%    +424  [ = ]       0    .strtab
  [NEW]     +96  [ = ]       0    ../../src/lib/pid/PID.cpp
  -8.1%     -32  [ = ]       0    ../../src/lib/version/version.c
  +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%    +640  [ = ]       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
   +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
  +0.1%     +80  [ = ]       0    [section .symtab]
-14.4% -1.76Ki  [ = ]       0    [Unmapped]
+0.2% +78.6Ki  +0.1% +1.76Ki    TOTAL

px4_fmu-v6x [Total VM Diff: 1736 byte (0.09 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.1% +1.70Ki  +0.1% +1.70Ki    .text
  [NEW]    +612  [NEW]    +612    ../../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%    +244  +0.1%    +244    [section .text]
  +0.1%    +164  +0.1%    +164    ROMFS/nsh_romfsimg.c
  +1.8%     +92  +1.8%     +92    ../../src/modules/logger/logged_topics.cpp
  +0.1%     +24  +0.1%     +24    ../../src/lib/parameters/parameters.cpp
   +60%     +12   +60%     +12    msg/topics_sources/rover_mecanum_status.cpp
  -0.1%      -4  -0.1%      -4    ../../src/modules/mag_bias_estimator/MagBiasEstimator.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/register_ext_component_request.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%    +192  [ = ]       0    .debug_aranges
  [NEW]     +56  [ = ]       0    ../../src/lib/pid/PID.cpp
  -5.0%      -8  [ = ]       0    ../../src/lib/version/version.c
   +11%     +24  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW]    +120  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
+0.1%    +524  [ = ]       0    .debug_frame
+0.2% +53.7Ki  [ = ]       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% +53.2Ki  [ = ]       0    [163 Others]
+0.1% +5.68Ki  [ = ]       0    .debug_line
  [NEW] +1.19Ki  [ = ]       0    ../../src/lib/pid/PID.cpp
  -1.3%     -25  [ = ]       0    ../../src/lib/version/version.c
   +16%    +905  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +3.56Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  +0.1%     +13  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +0.9%     +58  [ = ]       0    ../../src/modules/logger/logged_topics.cpp
  +0.4%      +4  [ = ]       0    task/task_cancelpt.c
+0.1% +6.69Ki  [ = ]       0    .debug_loc
  -0.1%     -15  [ = ]       0    ../../src/drivers/px4io/px4io.cpp
  -0.0%     -29  [ = ]       0    ../../src/drivers/uavcan/uavcan_main.cpp
  +0.0%      +3  [ = ]       0    ../../src/drivers/uavcan/uavcan_servers.cpp
  +0.1%     +15  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
  -0.1%     -30  [ = ]       0    ../../src/lib/collision_prevention/CollisionPrevention.cpp
  [NEW]    +516  [ = ]       0    ../../src/lib/pid/PID.cpp
  +0.1%     +15  [ = ]       0    ../../src/modules/airspeed_selector/airspeed_selector_main.cpp
  +0.2%     +15  [ = ]       0    ../../src/modules/camera_feedback/CameraFeedback.cpp
  -0.0%     -15  [ = ]       0    ../../src/modules/commander/Commander.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] +3.37Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  -0.0%     -13  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp
  -0.3%     -15  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
  -0.1%     -15  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
  -0.1%     -80  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  +0.1%     +15  [ = ]       0    ../../src/modules/gyro_calibration/GyroCalibration.cpp
  +0.2%     +15  [ = ]       0    ../../src/modules/land_detector/LandDetector.cpp
  +0.5%     +15  [ = ]       0    ../../src/modules/land_detector/RoverLandDetector.cpp
 -99.9%    +916  [ = ]       0    [11 Others]
+0.2% +2.48Ki  [ = ]       0    .debug_ranges
  [NEW]     +64  [ = ]       0    ../../src/lib/pid/PID.cpp
  -2.6%      -8  [ = ]       0    ../../src/lib/version/version.c
   +39%    +784  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  [NEW] +1.41Ki  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp
  -0.1%      -8  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +4.0%     +56  [ = ]       0    ../../src/modules/logger/logged_topics.cpp
  +0.4%    +208  [ = ]       0    [section .debug_ranges]
  +3.1%      +2  [ = ]       0    task/task_cancelpt.c
+0.1% +3.92Ki  [ = ]       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
   +63%    +967  [ = ]       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
  +0.0%     +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
+0.1%    +424  [ = ]       0    .strtab
  [NEW]     +96  [ = ]       0    ../../src/lib/pid/PID.cpp
  -8.1%     -32  [ = ]       0    ../../src/lib/version/version.c
  +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%    +640  [ = ]       0    .symtab
  -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
   +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
  +0.3%     +16  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  +0.1%     +80  [ = ]       0    [section .symtab]
   +33%     +16  [ = ]       0    msg/topics_sources/rpm.cpp
-2.5% -1.70Ki  [ = ]       0    [Unmapped]
+0.2% +78.0Ki  +0.1% +1.70Ki    TOTAL

Updated: 2024-12-16T17:45:02

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 and others added 4 commits December 12, 2024 15:51

ControlAllocator: introduce helicopter rotor rpm controller

f542497

RpmControl: class clean up

34f68f2

RpmControl: name current timestamp now following the convention

4a9931f

RpmControl: call local message instance after message name following …

404c394

…the convention

MaEtUgR force-pushed the helicopter-rpm-control branch from dd82d45 to ed0129a Compare December 16, 2024 14:40

MaEtUgR added 4 commits December 16, 2024 16:15

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

de40a13

…undant information

RpmControl: maximum rpm outliers are now caught by RpmCapture

24f6578

RpmControl: split into cpp source file fixing includes

ca17768

RpmControl: simplify the entire control logic

317bc0b

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

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

[WIP] Helicopter main rotor rpm control #24096

[WIP] Helicopter main rotor rpm control #24096

MaEtUgR commented Dec 11, 2024

github-actions bot commented Dec 16, 2024

[WIP] Helicopter main rotor rpm control #24096

Are you sure you want to change the base?

[WIP] 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

🔎 FLASH Analysis