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ActuatorEffectiveness: add function to delectively stop motors with zero thrust

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This commit is contained in:
Matthias Grob
2023-05-04 15:17:43 +02:00
parent a8bf47e606
commit 2a077181d9
6 changed files with 33 additions and 12 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+2 -2
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@@ -94,13 +94,13 @@ void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight
// update stopped motors
switch (flight_phase) {
case FlightPhase::FORWARD_FLIGHT:
_stopped_motors = _mc_motors_mask;
_stopped_motors_mask = _mc_motors_mask;
break;
case FlightPhase::HOVER_FLIGHT:
case FlightPhase::TRANSITION_FF_TO_HF:
case FlightPhase::TRANSITION_HF_TO_FF:
_stopped_motors = 0;
_stopped_motors_mask = 0;
break;
}
}