Thruster Mixing

This module contains our custom flight controller code.

Code

thruster_node.cpp

• ROS node for thruster mixing
• Reads from output_wrench/{degree_of_freedom} for each of the 6 degrees of freedom
• Parses params/fits.yaml for thrust to PWM conversion curve coefficients at different voltages
• Parses params/thrusters.yaml for thruster position configurations
• On topic callback:
  • Read updated value from message
  • Calculate the new normalized thrust matrix
  • Convert thrust matrix to pwm values
  • Publish to motor topic

ThrusterManager.cpp

• Class methods for ThrusterManager Class
  • Calculate Thruster Matrices
  • Calculate Thrusts
  • Normalize Thrusts
  • Convert Thrusts to PWM values

Thruster.cpp

• Class methods for individual Thruster Class
  • Calculate Thruster contribution to overall thrust
  • Convert thrust value to pwm value
  • Convert pwm value to thrust value
  • Bound pwm to valid range