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ControlAllocation: update normalization scale only if matrix updated is forced

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The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-01-10 14:03:52 +01:00
committed by Beat Küng
parent 258a563dd5
commit 0950bb81ab
7 changed files with 53 additions and 23 deletions
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src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+2 -1
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@@ -104,7 +104,8 @@ public:
* @param B Effectiveness matrix
*/
virtual void setEffectivenessMatrix(const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness,
const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators);
const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators,
bool update_normalization_scale);
/**
* Get the allocated actuator vector