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Ice shedding: rename variables for clarity

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This commit is contained in:
Balduin
2026-01-23 16:02:06 +01:00
parent e0c0b2389e
commit 37a110f682
2 changed files with 12 additions and 11 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+11 -10
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@@ -647,7 +647,7 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
}
float
ControlAllocator::get_ice_shedding_output(hrt_abstime now, bool any_upward_motor_failed)
ControlAllocator::get_ice_shedding_output(hrt_abstime now, bool any_stopped_motor_failed)
{
// Hardcoded maximum to limit the amount the user can mess up by setting parameters
// Equal to the param maximum in module.yaml
@@ -659,21 +659,22 @@ ControlAllocator::get_ice_shedding_output(hrt_abstime now, bool any_upward_motor
const float max_ice_shedding_slewrate = _param_ice_shedding_slewrate.get();
_slew_limited_ice_shedding_output.setSlewRate(max_ice_shedding_slewrate);
const bool feature_turned_off = period_sec <= FLT_EPSILON || on_sec <= FLT_EPSILON
|| ice_shedding_output <= FLT_EPSILON
|| max_ice_shedding_slewrate < FLT_EPSILON;
const bool feature_disabled_by_param = period_sec <= FLT_EPSILON || on_sec <= FLT_EPSILON
|| ice_shedding_output <= FLT_EPSILON
|| max_ice_shedding_slewrate < FLT_EPSILON;
const bool has_unused_upwards_rotors = _effectiveness_source_id == EffectivenessSource::STANDARD_VTOL
|| _effectiveness_source_id == EffectivenessSource::TILTROTOR_VTOL;
const bool in_forward_flight = _actuator_effectiveness->getFlightPhase() == ActuatorEffectiveness::FlightPhase::FORWARD_FLIGHT;
// If any upward motor has failed, the feature will create much more
// If any stopped motor (*) has failed, the feature will create much more
// torque than in the nominal case, and becomes pointless anyway as we
// cannot go back to multicopter
const bool apply_shedding = has_unused_upwards_rotors && in_forward_flight && !any_upward_motor_failed;
// (*) in FW and for the relevant airframes these are exactly the upward pointing motors
const bool apply_shedding = has_unused_upwards_rotors && in_forward_flight && !any_stopped_motor_failed;
if (feature_turned_off || !apply_shedding) {
// Bypass slew limit and immediately return zero to not
if (feature_disabled_by_param || !apply_shedding) {
// Bypass slew limit and immediately set zero, to not
// interfere with backtransition in any way
_slew_limited_ice_shedding_output.setForcedValue(0.0f);
@@ -719,9 +720,9 @@ ControlAllocator::publish_actuator_controls()
| _handled_motor_failure_bitmask
| _motor_stop_mask;
const bool any_upward_motor_failed = 0 != (stopped_motors_due_to_effectiveness & (_handled_motor_failure_bitmask | _motor_stop_mask));
const bool any_stopped_motor_failed = 0 != (stopped_motors_due_to_effectiveness & (_handled_motor_failure_bitmask | _motor_stop_mask));
const float ice_shedding_output = get_ice_shedding_output(actuator_motors.timestamp, any_upward_motor_failed);
const float ice_shedding_output = get_ice_shedding_output(actuator_motors.timestamp, any_stopped_motor_failed);
// motors
int motors_idx;
src/modules/control_allocator/ControlAllocator.hpp
+1 -1
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@@ -139,7 +139,7 @@ private:
void publish_actuator_controls();
float get_ice_shedding_output(hrt_abstime now, bool any_upward_motor_failed);
float get_ice_shedding_output(hrt_abstime now, bool any_stopped_motor_failed);
AllocationMethod _allocation_method_id{AllocationMethod::NONE};
ControlAllocation *_control_allocation[ActuatorEffectiveness::MAX_NUM_MATRICES] {}; ///< class for control allocation calculations