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CA: log torque setpoints

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2024-06-04 11:56:59 +02:00
parent 9bdc898ceb
commit 2ef7c45d97
2 changed files with 10 additions and 0 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+7
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@@ -705,6 +705,13 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
control_allocator_status.unallocated_thrust[1] = unallocated_control(4);
control_allocator_status.unallocated_thrust[2] = unallocated_control(5);
control_allocator_status.torque_setpoint[0] = _control_allocation[matrix_index]->getControlSetpoint()(0);
control_allocator_status.torque_setpoint[1] = _control_allocation[matrix_index]->getControlSetpoint()(1);
control_allocator_status.torque_setpoint[2] = _control_allocation[matrix_index]->getControlSetpoint()(2);
control_allocator_status.thrust_setpoint[0] = _control_allocation[matrix_index]->getControlSetpoint()(3);
control_allocator_status.thrust_setpoint[1] = _control_allocation[matrix_index]->getControlSetpoint()(4);
control_allocator_status.thrust_setpoint[2] = _control_allocation[matrix_index]->getControlSetpoint()(5);
// override control_allocator_status in customized saturation logic for certain effectiveness types
_actuator_effectiveness->getUnallocatedControl(matrix_index, control_allocator_status);