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control_allocator: handle thrust allocation for VTOL's properly

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 936f2dff52
commit 0568cff299
6 changed files with 87 additions and 38 deletions
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src/modules/vtol_att_control/standard.cpp
+24
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@@ -413,6 +413,30 @@ void Standard::fill_actuator_outputs()
break;
}
_torque_setpoint_0->timestamp = hrt_absolute_time();
_torque_setpoint_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_torque_setpoint_0->xyz[0] = mc_out[actuator_controls_s::INDEX_ROLL];
_torque_setpoint_0->xyz[1] = mc_out[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_0->xyz[2] = mc_out[actuator_controls_s::INDEX_YAW];
_torque_setpoint_1->timestamp = hrt_absolute_time();
_torque_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_torque_setpoint_1->xyz[0] = fw_out[actuator_controls_s::INDEX_ROLL];
_torque_setpoint_1->xyz[1] = fw_out[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[2] = fw_out[actuator_controls_s::INDEX_YAW];
_thrust_setpoint_0->timestamp = hrt_absolute_time();
_thrust_setpoint_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_thrust_setpoint_0->xyz[0] = 0.f;
_thrust_setpoint_0->xyz[1] = 0.f;
_thrust_setpoint_0->xyz[2] = -mc_in[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_1->timestamp = hrt_absolute_time();
_thrust_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_thrust_setpoint_1->xyz[0] = fw_in[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_1->xyz[1] = 0.f;
_thrust_setpoint_1->xyz[2] = 0.f;
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;