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refactor(control_allocation): Clarify and enforce that motors are in matrix 0

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Balduin
2026-03-09 17:10:32 +01:00
committed by Balduin
parent b6164107d1
commit 029edb50b3
2 changed files with 8 additions and 2 deletions
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src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.cpp
+5
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@@ -50,6 +50,11 @@ int ActuatorEffectiveness::Configuration::addActuator(ActuatorType type, const m
return -1;
}
if (type == ActuatorType::MOTORS && selected_matrix != 0) {
PX4_ERR("Trying to add motors to matrix %d (add to matrix 0)", selected_matrix);
return -1;
}
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::ROLL, actuator_idx) = torque(0);
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::PITCH, actuator_idx) = torque(1);
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::YAW, actuator_idx) = torque(2);