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control_allocator: remove failed motor from effectiveness

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- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
  recomputing the scale / normalization
This commit is contained in:
Alessandro Simovic
2021-11-26 16:51:27 +01:00
committed by Beat Küng
parent fb71e7587c
commit 20ccfbb719
7 changed files with 133 additions and 8 deletions
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msg/control_allocator_status.msg
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@@ -19,3 +19,5 @@ int8 ACTUATOR_SATURATION_LOWER = -2 # The actuator is saturated (with a valu
int8[16] actuator_saturation # Indicates actuator saturation status.
# Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved.
# Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector