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Allocation: fix flaperons and spoilerons (symmetric ailerons up/down) (#26514)

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Signed-off-by: Silvan <silvan@auterion.com>
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Silvan Fuhrer 2026-02-18 19:49:26 +01:00 committed by GitHub
parent d9448f3e99
commit 06d6c31614
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GPG Key ID: B5690EEEBB952194
1 changed files with 16 additions and 5 deletions
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21
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
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@ -221,9 +221,14 @@ void ActuatorEffectivenessControlSurfaces::applyFlaps(float flaps_control, int f
_flaps_setpoint_with_slewrate.update(flaps_control, dt);
for (int i = 0; i < _count; ++i) {
// map [0, 1] to [-1, 1]
// TODO: this currently only works for dedicated flaps, not flaperons
actuator_sp(i + first_actuator_idx) += (_flaps_setpoint_with_slewrate.getState() * 2.f - 1.f) * _params[i].scale_flap;
if (_params[i].type == Type::LeftFlap || _params[i].type == Type::RightFlap) {
// map [0, 1] to [-1, 1] for pure flaps
actuator_sp(i + first_actuator_idx) += (_flaps_setpoint_with_slewrate.getState() * 2.f - 1.f) * _params[i].scale_flap;
} else {
// map [0, 1] to [0, 1] for flaperons (ailerons deflected down)
actuator_sp(i + first_actuator_idx) += _flaps_setpoint_with_slewrate.getState() * _params[i].scale_flap;
}
}
}
@ -233,8 +238,14 @@ void ActuatorEffectivenessControlSurfaces::applySpoilers(float spoilers_control,
_spoilers_setpoint_with_slewrate.update(spoilers_control, dt);
for (int i = 0; i < _count; ++i) {
// TODO: this currently only works for spoilerons, not dedicated spoilers
actuator_sp(i + first_actuator_idx) += _spoilers_setpoint_with_slewrate.getState() * _params[i].scale_spoiler;
if (_params[i].type == Type::LeftSpoiler || _params[i].type == Type::RightSpoiler) {
// map [0, 1] to [-1, 1] for pure spoilers
actuator_sp(i + first_actuator_idx) += (_spoilers_setpoint_with_slewrate.getState() * 2.f - 1.f) * _params[i].scale_spoiler;
} else {
// map [0, 1] to [0, 1] for spoilerons (ailerons deflected up)
actuator_sp(i + first_actuator_idx) += _spoilers_setpoint_with_slewrate.getState() * _params[i].scale_spoiler;
}
}
}