I read a few posts on developing support for overactuated airframes using the control allocation module. I am working on a controller for an overactuated hexacopter, and would like to integrate it with the control allocation module in the PX4 firmware. Something along the lines of this paper
Has anyone worked on this so far / is anyone working on it currently?
Also are there plans by dev-team to add support for overactuated airframes?
I’d love to contribute. I am working off of the pr-control_allocation branch. Currently trying to get an overview of how the control allocator module w.r.t the rest of the system, figure out what’s the best way I can implement an actuator effectiveness matrix generator for overactuated airframes and the control logic for the tilting of the motors.
I’d really appreciate any help regarding these!