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control_allocator: handle saturation flags for helicopters

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This commit is contained in:
Beat Küng
2022-09-01 11:53:20 +02:00
parent aa8d594e9b
commit 4087c27e84
13 changed files with 169 additions and 49 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+2 -1
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@@ -64,7 +64,8 @@ ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configu
}
void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp)
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
// apply flaps
if (matrix_index == 1) {