fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 22:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ControlAllocation: update normalization scale only if matrix updated is forced

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ControlAllocator.cpp
+1 -1
View File
@@ -496,7 +496,7 @@ ControlAllocator::update_effectiveness_matrix_if_needed(bool force)
// Assign control effectiveness matrix
int total_num_actuators = config.num_actuators_matrix[i];
_control_allocation[i]->setEffectivenessMatrix(config.effectiveness_matrices[i], config.trim[i],
config.linearization_point[i], total_num_actuators);
config.linearization_point[i], total_num_actuators, force);
}
trims.timestamp = hrt_absolute_time();