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control_allocator: handle saturation flags for helicopters

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This commit is contained in:
Beat Küng
2022-09-07 08:00:27 +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.hpp
+2 -1
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@@ -73,7 +73,8 @@ public:
}
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp) override;
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void setFlightPhase(const FlightPhase &flight_phase) override;