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control_allocator: remove direct mixer, add actuator_{motors,servos} instead

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This commit is contained in:
Beat Küng
2021-09-11 17:29:53 +02:00
committed by Daniel Agar
parent a51c465b54
commit 38fa65a47e
21 changed files with 49 additions and 371 deletions
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src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
+2 -2
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@@ -97,10 +97,10 @@ const
for (size_t i = 0; i < ControlAllocation::NUM_ACTUATORS; i++) {
if (_actuator_min(i) < _actuator_max(i)) {
actuator_normalized(i) = -1.0f + 2.0f * (actuator(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
actuator_normalized(i) = (actuator(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
} else {
actuator_normalized(i) = -1.0f + 2.0f * (_actuator_trim(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
actuator_normalized(i) = (_actuator_trim(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
}
}