fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 03:17:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

CA: log torque setpoints

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-06-04 11:56:59 +02:00
parent 9bdc898ceb
commit 2ef7c45d97
2 changed files with 10 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/ControlAllocatorStatus.msg
+3
View File
@@ -1,5 +1,8 @@
uint64 timestamp # time since system start (microseconds)
float32[3] torque_setpoint # Current torque setpoint (normalized) for specific allocation matrix.
float32[3] thrust_setpoint # Current thrust setpoint (normalized) for specific allocation matrix.
bool torque_setpoint_achieved # Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
float32[3] unallocated_torque # Unallocated torque. Equal to 0 if the setpoint was achieved.
# Computed as: unallocated_torque = torque_setpoint - allocated_torque