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ControlMixer.md

ControlMixer ​

Static thrust mixer: maps three control channels into four thruster commands using fixed gain vectors. The 3-vector input u_in is interpreted as [u_alt, u_roll, u_pitch]; each thruster command is Galt[i]*u_in[1] + Groll[i]*u_in[2] + Gpitch[i]*u_in[3].

Usage ​

MultibodyComponents.ControlMixer(Galt=[1, 1, 1, 1], Groll=[1, 0, -1, 0], Gpitch=[0, -1, 0, 1])

Parameters: ​

NameDescriptionUnitsDefault value
GaltAltitude-channel gain for each thruster–[1, 1, 1, 1]
GrollRoll-channel gain for each thruster–[1, 0, -1, 0]
GpitchPitch-channel gain for each thruster–[0, -1, 0, 1]

Connectors ​

  • u_in - This connector represents a real signal as an input to a component (RealInput)

  • u_out - This connector represents a real signal as an output from a component (RealOutput)

Behavior ​

Source ​

dyad
"""
Static thrust mixer: maps three control channels into four thruster commands
using fixed gain vectors. The 3-vector input `u_in` is interpreted as
`[u_alt, u_roll, u_pitch]`; each thruster command is
`Galt[i]*u_in[1] + Groll[i]*u_in[2] + Gpitch[i]*u_in[3]`.
"""
component ControlMixer
  "Control commands as a 3-vector: [altitude, roll, pitch]. Bundle three scalar PID outputs with a `Mux3` before connecting here."
  u_in = [RealInput() for i in 1:3] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 0, "y1": 450, "x2": 100, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Thrust commands for the four thrusters (in the order expected by RotorCraft.u)"
  u_out = [RealOutput() for i in 1:4] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 900, "y1": 450, "x2": 1000, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Altitude-channel gain for each thruster"
  parameter Galt::Real[4] = [1, 1, 1, 1]
  "Roll-channel gain for each thruster"
  parameter Groll::Real[4] = [1, 0, -1, 0]
  "Pitch-channel gain for each thruster"
  parameter Gpitch::Real[4] = [0, -1, 0, 1]
relations
  for i in 1:4
    u_out[i] = Galt[i] * u_in[1] + Groll[i] * u_in[2] + Gpitch[i] * u_in[3]
  end
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/ControlMixer.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end
Flattened Source
dyad
"""
Static thrust mixer: maps three control channels into four thruster commands
using fixed gain vectors. The 3-vector input `u_in` is interpreted as
`[u_alt, u_roll, u_pitch]`; each thruster command is
`Galt[i]*u_in[1] + Groll[i]*u_in[2] + Gpitch[i]*u_in[3]`.
"""
component ControlMixer
  "Control commands as a 3-vector: [altitude, roll, pitch]. Bundle three scalar PID outputs with a `Mux3` before connecting here."
  u_in = [RealInput() for i in 1:3] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 0, "y1": 450, "x2": 100, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Thrust commands for the four thrusters (in the order expected by RotorCraft.u)"
  u_out = [RealOutput() for i in 1:4] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 900, "y1": 450, "x2": 1000, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Altitude-channel gain for each thruster"
  parameter Galt::Real[4] = [1, 1, 1, 1]
  "Roll-channel gain for each thruster"
  parameter Groll::Real[4] = [1, 0, -1, 0]
  "Pitch-channel gain for each thruster"
  parameter Gpitch::Real[4] = [0, -1, 0, 1]
relations
  for i in 1:4
    u_out[i] = Galt[i] * u_in[1] + Groll[i] * u_in[2] + Gpitch[i] * u_in[3]
  end
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/ControlMixer.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end


Test Cases ​

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