[spinal][control] support multiple type of thrust motors

[sugikazu75]

What is this

enable to use different type motors for thrust.

Details

• add new message in spinal PwmInfos which have motor type array to specify motor if necessary. And it have motor_infos field to store all type of motors.
• update interface of spinal and aeiral_robot_control
• update saturation process implemented in attitude control of spinal considering each profile of motors

No change is needed if we use single type of motor.

TODO

• check with real machine with single type of motor
• check with real machine with multiple types of motor

[sugikazu75]

usage

MotorInfo.yaml example

motor_info: 
        motor_types: [0, 0, 0, 0, 1]
        min_pwm: 0.59 # 1180 [ms]
        max_pwm: 0.9375 # 1875 [ms]
        min_thrust: 1.0 #  [N]
        force_landing_thrust: 6.5 #[N]
        m_f_rate: -0.0172
        pwm_conversion_mode: 0 # SQRT Mode
        vel_ref_num: 1
        ref1:
                voltage: 25.2
                max_thrust: 20 # N 
                polynominal2: 0.07983707 # x10
                polynominal1: -6.627443098 # x10
                polynominal0: 12.3593793002 # x1

motor_info1:
        min_pwm: 0.55 # = 1100 [ms]
        max_pwm: 0.92 # = 1840 [ms]
        min_thrust: 0 # [N]
        force_landing_thrust: 13 #[N]
        pwm_conversion_mode: 1 # Polynominal Mode
        vel_ref_num: 4
        ref1:        
                voltage: 25.2
                max_thrust: 21.1 # N < max is 21.20V (60.5 A), but currency max of ESC is 60 A,
                polynominal4: 3.0281784 # x 10^4, 7 decimal places (total 8 decimal places)
                polynominal3: -12.648033 # x10^3, 6 decimal places (total 8 decimal places)
                polynominal2: 12.444642 # x10^2,  6 decimal places (total 8 decimal places)
                polynominal1: 19.748675 # x10,    6 decimal places (total 8 decimal places)
                polynominal0: 51.760116 # x1,     6 decimal places (total 8 decimal places)

motor_info/motor_types identify the type of motor for each thruster.
Information under motor_info is used for 0-th motor and motor_infoN is used for N-th motor.

[Copilot]

Pull Request Overview

This PR adds support for multiple types of thrust motors in the spinal control system. The change enables using different motor types for thrust rather than being limited to a single motor type.

• Adds new PwmInfos message containing motor type arrays and motor_infos field for different motor types
• Updates URDF files to use effort value from joint limits for motor-specific m_f_rate values
• Implements per-motor PWM conversion, saturation checking, and thrust limits in attitude control

Reviewed Changes

Copilot reviewed 12 out of 12 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
aerial_robot_nerve/spinal/msg/PwmInfos.msg	New message type defining motor types array and PWM info array
aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h	Updated to handle multiple motor types with per-motor arrays
aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp	Implements per-motor PWM conversion and saturation logic
aerial_robot_control/include/aerial_robot_control/control/base/base.h	Updates control interface to support multiple motor types
aerial_robot_model/include/aerial_robot_model/model/aerial_robot_model.h	Changes thrust limits and m_f_rate to per-motor arrays
aerial_robot_model/src/model/base_model/robot_model.cpp	Implements per-motor property extraction from URDF
robots//urdf/.urdf.xacro	Sets effort limit to 0 to enable motor-specific m_f_rate from URDF
aerial_robot_simulation/include/aerial_robot_simulation/rotor_handle.h	Uses effort value from URDF for motor-specific m_f_rate

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[Copilot]

Potential division by zero when yaw_term_[i] is zero. This could occur when yaw control is not active or when the yaw term is exactly zero, leading to undefined behavior.

Suggested change

	float yaw_decreasing_rate_i = residual_term / (fabs(yaw_term_[i]) / rotor_devider_);
	if(yaw_decreasing_rate_i < yaw_decreasing_rate) yaw_decreasing_rate = yaw_decreasing_rate_i;
	if (fabs(yaw_term_[i]) > 1e-6) // prevent division by zero
	{
	float yaw_decreasing_rate_i = residual_term / (fabs(yaw_term_[i]) / rotor_devider_);
	if(yaw_decreasing_rate_i < yaw_decreasing_rate) yaw_decreasing_rate = yaw_decreasing_rate_i;
	}
	// else: skip update to yaw_decreasing_rate to avoid division by zero

[Copilot]

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[sugikazu75]

I found that generated message for nested array is incorrectly deserialized and this implementation did not work for real machine.
Related to ros-drivers/rosserial#314 (comment)

[sugikazu75]

I found that generated message for nested array is incorrectly deserialized and this implementation did not work for real machine. Related to ros-drivers/rosserial#314 (comment)

This problem has been solved by sugikazu75/rosserial@eb8c359