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control_allocator: increase max num motors to 12 #81

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control_allocator: increase max num motors to 12 #81

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8 changes: 4 additions & 4 deletions msg/actuator_motors.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ uint64 timestamp_sample # the timestamp the data this control response is ba

uint16 reversible_flags # bitset which motors are configured to be reversible

uint8 NUM_CONTROLS = 8
float32[8] control # range: [-1, 1], where 1 means maximum positive thrust,
# -1 maximum negative (if not supported by the output, <0 maps to NaN),
# and NaN maps to disarmed (stop the motors)
uint8 NUM_CONTROLS = 12
float32[12] control # range: [-1, 1], where 1 means maximum positive thrust,
# -1 maximum negative (if not supported by the output, <0 maps to NaN),
# and NaN maps to disarmed (stop the motors)
2 changes: 1 addition & 1 deletion msg/actuator_test.msg
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Expand Up @@ -7,7 +7,7 @@ uint8 ACTION_RELEASE_CONTROL = 0 # exit test mode for the given function
uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode

uint8 FUNCTION_MOTOR1 = 101
uint8 MAX_NUM_MOTORS = 8
uint8 MAX_NUM_MOTORS = 12
uint8 FUNCTION_SERVO1 = 201
uint8 MAX_NUM_SERVOS = 8

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2 changes: 1 addition & 1 deletion src/lib/mixer_module/output_functions.yaml
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Expand Up @@ -9,7 +9,7 @@ functions:

Motor:
start: 101
count: 8
count: 12
Servo:
start: 201
count: 8
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2 changes: 1 addition & 1 deletion src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
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Expand Up @@ -60,7 +60,7 @@ class ActuatorEffectivenessRotors : public ModuleParams, public ActuatorEffectiv
FixedUpwards, ///< axis is fixed, pointing upwards (negative Z)
};

static constexpr int NUM_ROTORS_MAX = 8;
static constexpr int NUM_ROTORS_MAX = 12;

struct RotorGeometry {
matrix::Vector3f position;
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10 changes: 9 additions & 1 deletion src/modules/control_allocator/module.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
__max_num_mc_motors: &max_num_mc_motors 8
__max_num_mc_motors: &max_num_mc_motors 12
__max_num_servos: &max_num_servos 8
__max_num_tilts: &max_num_tilts 4

Expand Down Expand Up @@ -58,6 +58,10 @@ parameters:
5: Motor 6
6: Motor 7
7: Motor 8
8: Motor 9
9: Motor 10
10: Motor 11
11: Motor 12
default: 0
CA_R${i}_SLEW:
description:
Expand Down Expand Up @@ -111,6 +115,10 @@ parameters:
6: '6'
7: '7'
8: '8'
9: '9'
10: '10'
11: '11'
12: '12'
default: 0
CA_ROTOR${i}_PX:
description:
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