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ActuatorEffectivenessTiltrotorVTOL: move comment

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This commit is contained in:
Balduin 2025-02-20 11:44:35 +01:00
parent 6613272a70
commit 276a7a2ab2
1 changed files with 10 additions and 9 deletions
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19
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
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@ -127,6 +127,16 @@ void ActuatorEffectivenessTiltrotorVTOL::allocateAuxilaryControls(const float dt
void ActuatorEffectivenessTiltrotorVTOL::setBypassTiltrotorControls(bool bypass, float collective_tilt,
float collective_thrust)
{
// if _bypass_tiltrotor_controls (used for control surface preflight
// check), we alter the behaviour of processTiltrotorControls in these
// two ways:
// - collective tilt and thrust setpoints are NOT taken from uOrb
// message, but from class member variable, which we can arbitrarily set
// before calling this function using setBypassTiltrotorControls
// - collective tilt is added to actuator_sp even if
// (throttleSpoolupFinished() || _flight_phase != FlightPhase::HOVER_FLIGHT)
// evaluates to false
_bypass_tiltrotor_controls = bypass;
_collective_tilt_normalized_setpoint = collective_tilt;
_collective_thrust_normalized_setpoint = collective_thrust;
@ -137,15 +147,6 @@ void ActuatorEffectivenessTiltrotorVTOL::processTiltrotorControls(ActuatorVector
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
// if _bypass_tiltrotor_controls (used for control surface preflight
// check), we alter the behaviour in these two ways:
// - collective tilt and thrust setpoints are NOT taken from uOrb
// message, but from class member variable, which we can arbitrarily set
// before calling this function using setBypassTiltrotorControls
// - collective tilt is added to actuator_sp even if
// (throttleSpoolupFinished() || _flight_phase != FlightPhase::HOVER_FLIGHT)
// evaluates to false
tiltrotor_extra_controls_s tiltrotor_extra_controls;
if (_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls) || _bypass_tiltrotor_controls) {