What is the difference between these two, mixer and control allocator?

PX4 Autopilot Flight Controllers đź’»
1

image
image770Ă—683 23.7 KB

image
image756Ă—699 16.9 KB

PX4 version : v1.14.0

When a motor fails, I would like to change the allocation matrix.
However, I am not sure which file to look at.

  1. While searching, I found something called a “mixer” and “control allocation.” What is the difference between these two?
  2. From what I understand, the mixer was used in versions prior to v1.14.0. So in versions after v1.14.0, can I just look at the control allocator file?
  3. Is the src/lib/mixer_module file used for control allocation?

As a beginner, I still have a lot to learn…
If there is anything that might help me with fault-tolerant control, please teach me anything you can!

Lastly,

image
image765Ă—741 56 KB

Lastly, I saw the following code in rc.mc_apps.

Does the command * start (e.g., control_allocator start, mc_rate_control start, mc_pos_control start) mean that the corresponding folders are used when controlling and performing control allocation?

Thank you.

2

I’m pretty sure the latest version of px4 is already capable of changing the allocation matrix on the fly if a motor failure is detected.

3

One possible way could be use of Matlab/Simulink and develop your own control algorithm.