fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-12 16:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

VehicleControlMode: add flag_control_allocation_enabled

Browse Source 
Allows (external) modes to directly publish actuator_{motors,servos}.
This commit is contained in:
Beat Küng
2023-07-26 13:31:20 +02:00
committed by Daniel Agar
parent 22e613a24a
commit 03365658d5
4 changed files with 17 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ControlAllocator.hpp
+3
View File
@@ -73,6 +73,7 @@
#include <uORB/topics/actuator_servos_trim.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_status.h>
@@ -186,10 +187,12 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)};
matrix::Vector3f _torque_sp;
matrix::Vector3f _thrust_sp;
bool _publish_controls{true};
// Reflects motor failures that are currently handled, not motor failures that are reported.
// For example, the system might report two motor failures, but only the first one is handled by CA