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refactor control_allocator: directly get the effectiveness matrix when updated

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Reduces stack + RAM usage
This commit is contained in:
Beat Küng
2021-01-18 11:25:37 -05:00
committed by Daniel Agar
parent 38782029ad
commit 308f614735
9 changed files with 164 additions and 208 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+17 -17
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@@ -47,23 +47,12 @@ ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL()
}
bool
ActuatorEffectivenessStandardVTOL::update()
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix)
{
if (_updated) {
_updated = false;
return true;
if (!_updated) {
return false;
}
return false;
}
void
ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
ActuatorEffectiveness::setFlightPhase(flight_phase);
_updated = true;
switch (_flight_phase) {
case FlightPhase::HOVER_FLIGHT: {
const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
@@ -74,7 +63,7 @@ ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phas
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
};
_effectiveness = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
break;
}
@@ -87,7 +76,7 @@ ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phas
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
};
_effectiveness = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
break;
}
@@ -101,8 +90,19 @@ ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phas
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
};
_effectiveness = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
break;
}
}
_updated = false;
return true;
}
void
ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
ActuatorEffectiveness::setFlightPhase(flight_phase);
_updated = true;
}