ControlAllocation: introduce convention for control surface deflection sign

- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp

@@ -82,8 +82,15 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 
 		param_get(_param_handles[i].trim, &_params[i].trim);
 
-		// TODO: enforce limits?
+		// TODO: enforce limits (note that tailsitter uses different limits)?
 		switch (_params[i].type) {
+
+		case Type::LeftAileron:
+			break;
+
+		case Type::RightAileron:
+			break;
+
 		case Type::Elevator:
 			break;
 
@@ -107,12 +114,6 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 			torque.setZero();
 			break;
 
-		case Type::LeftAileron:
-			break;
-
-		case Type::RightAileron:
-			break;
-
 		case Type::Airbrakes:
 			torque.setZero();
 			break;

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp

@@ -45,16 +45,16 @@ public:
 
 	enum class Type : int32_t {
 		// This matches with the parameter
-		Elevator = 1,
-		Rudder = 2,
-		LeftElevon = 3,
-		RightElevon = 4,
-		LeftVTail = 5,
-		RightVTail = 6,
-		LeftFlaps = 7,
-		RightFlaps = 8,
-		LeftAileron = 9,
-		RightAileron = 10,
+		LeftAileron = 1,
+		RightAileron = 2,
+		Elevator = 3,
+		Rudder = 4,
+		LeftElevon = 5,
+		RightElevon = 6,
+		LeftVTail = 7,
+		RightVTail = 8,
+		LeftFlaps = 9,
+		RightFlaps = 10,
 		Airbrakes = 11,
 		Custom = 12,
 	};