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Remove circular dependency if control allocation (#24195)

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... and actuator effectiveness
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Jaeyoung Lim 2025-01-10 16:58:15 +01:00 committed by GitHub
parent a231fafafa
commit 208d37e703
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1 changed files with 6 additions and 7 deletions
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13
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp
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@ -32,7 +32,6 @@
****************************************************************************/
#include "ActuatorEffectiveness.hpp"
#include "../ControlAllocation/ControlAllocation.hpp"
#include <px4_platform_common/log.h>
@ -51,12 +50,12 @@ int ActuatorEffectiveness::Configuration::addActuator(ActuatorType type, const m
return -1;
}
effectiveness_matrices[selected_matrix](ControlAllocation::ControlAxis::ROLL, actuator_idx) = torque(0);
effectiveness_matrices[selected_matrix](ControlAllocation::ControlAxis::PITCH, actuator_idx) = torque(1);
effectiveness_matrices[selected_matrix](ControlAllocation::ControlAxis::YAW, actuator_idx) = torque(2);
effectiveness_matrices[selected_matrix](ControlAllocation::ControlAxis::THRUST_X, actuator_idx) = thrust(0);
effectiveness_matrices[selected_matrix](ControlAllocation::ControlAxis::THRUST_Y, actuator_idx) = thrust(1);
effectiveness_matrices[selected_matrix](ControlAllocation::ControlAxis::THRUST_Z, actuator_idx) = thrust(2);
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::ROLL, actuator_idx) = torque(0);
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::PITCH, actuator_idx) = torque(1);
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::YAW, actuator_idx) = torque(2);
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_X, actuator_idx) = thrust(0);
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_Y, actuator_idx) = thrust(1);
effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_Z, actuator_idx) = thrust(2);
matrix_selection_indexes[totalNumActuators()] = selected_matrix;
++num_actuators[(int)type];
return num_actuators_matrix[selected_matrix]++;