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control_allocator: remove min/max/scale params

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This commit is contained in:
Beat Küng
2021-11-11 11:39:40 +01:00
committed by Daniel Agar
parent b29d9db7f1
commit 2809dd8944
10 changed files with 24 additions and 463 deletions
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src/modules/control_allocator/ControlAllocator.cpp
-40
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@@ -93,46 +93,6 @@ ControlAllocator::parameters_updated()
return;
}
// Minimum actuator values
matrix::Vector<float, NUM_ACTUATORS> actuator_min;
actuator_min(0) = _param_ca_act0_min.get();
actuator_min(1) = _param_ca_act1_min.get();
actuator_min(2) = _param_ca_act2_min.get();
actuator_min(3) = _param_ca_act3_min.get();
actuator_min(4) = _param_ca_act4_min.get();
actuator_min(5) = _param_ca_act5_min.get();
actuator_min(6) = _param_ca_act6_min.get();
actuator_min(7) = _param_ca_act7_min.get();
actuator_min(8) = _param_ca_act8_min.get();
actuator_min(9) = _param_ca_act9_min.get();
actuator_min(10) = _param_ca_act10_min.get();
actuator_min(11) = _param_ca_act11_min.get();
actuator_min(12) = _param_ca_act12_min.get();
actuator_min(13) = _param_ca_act13_min.get();
actuator_min(14) = _param_ca_act14_min.get();
actuator_min(15) = _param_ca_act15_min.get();
_control_allocation->setActuatorMin(actuator_min);
// Maximum actuator values
matrix::Vector<float, NUM_ACTUATORS> actuator_max;
actuator_max(0) = _param_ca_act0_max.get();
actuator_max(1) = _param_ca_act1_max.get();
actuator_max(2) = _param_ca_act2_max.get();
actuator_max(3) = _param_ca_act3_max.get();
actuator_max(4) = _param_ca_act4_max.get();
actuator_max(5) = _param_ca_act5_max.get();
actuator_max(6) = _param_ca_act6_max.get();
actuator_max(7) = _param_ca_act7_max.get();
actuator_max(8) = _param_ca_act8_max.get();
actuator_max(9) = _param_ca_act9_max.get();
actuator_max(10) = _param_ca_act10_max.get();
actuator_max(11) = _param_ca_act11_max.get();
actuator_max(12) = _param_ca_act12_max.get();
actuator_max(13) = _param_ca_act13_max.get();
actuator_max(14) = _param_ca_act14_max.get();
actuator_max(15) = _param_ca_act15_max.get();
_control_allocation->setActuatorMax(actuator_max);
_control_allocation->updateParameters();
update_effectiveness_matrix_if_needed(true);
}