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Documentation: Add unit for actuator slew rate and reword description #23846

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Documentation: Add unit for actuator slew rate and reword description #23846

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0cbf188
control_allocator: add unit for slew rate and reword description
MaEtUgR Oct 23, 2024
2a47e3d
control_allocator: fix typo and use [0,1] instead of [0%, 100%] in sl…
MaEtUgR Nov 8, 2024
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13 changes: 6 additions & 7 deletions src/modules/control_allocator/module.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -71,15 +71,14 @@ parameters:
description:
short: Motor ${i} slew rate limit
long: |
Minimum time allowed for the motor input signal to pass through
the full output range. A value x means that the motor signal
can only go from 0 to 1 in minimum x seconds (in case of
reversible motors, the range is -1 to 1).
Forces the motor output signal to take at least the configured time (in seconds)
to traverse its full rangr normally [0%, 100%] if reversible [-100%, 100%].
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Zero means that slew rate limiting is disabled.
type: float
decimal: 2
increment: 0.01
unit: s
num_instances: *max_num_mc_motors
min: 0
max: 10
Expand All @@ -90,14 +89,14 @@ parameters:
description:
short: Servo ${i} slew rate limit
long: |
Minimum time allowed for the servo input signal to pass through
the full output range. A value x means that the servo signal
can only go from -1 to 1 in minimum x seconds.
Forces the servo output signal to take at least the configured time (in seconds)
to traverse its full range [-100%, 100%].
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@hamishwillee hamishwillee Oct 23, 2024 •
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Is the range of a servo defined from -1 to 1? I.e. can a servo be defined to have a range of 0 - 100%? If it can, I'd be tempted to remove the [-100%, 100%].

I ask because a while a rudder (say) moves about a neutral centre position, a flap moves from a neutral position to full extension. Now I think that for flaps the movement is always 0 - 1 but you can set zero to be half way across the servo PWM output range or at the lowest value.
That's all a bit confusing - I guess I'm saying, is it the time for moving neutral to full for a rudder?

Also, as above range [-1,1] is consistent with other docs.

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From the actuator doc example "They also have a slew rate of 0.5/s, meaning that it will take 2s to fully deflect them (a slew rate on the flaps is generally recommended to reduce the disturbances their movement creates)."

So I think this is from 0 to 1.

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I actually don't know and would need to check in code. Likely @sfuhrer knows by heart and in case it's not super clear certainly how it should be.

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The servo movement is always defined from -1 to 1. A flap is at -1 if at neutral and at 1 if fully deflected.
Does that answer your question?


Zero means that slew rate limiting is disabled.
type: float
decimal: 2
increment: 0.05
unit: s
num_instances: *max_num_servos
min: 0
max: 10
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