From 43389762471d275aef39315a326695477a528bde Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Wed, 27 Apr 2022 11:37:04 +0200
Subject: [PATCH] ActuatorEffectivenessRotors: add missing
 getEffectivenessMatrix

Fixes MOTORS_6DOF
---
 .../ActuatorEffectivenessRotors.cpp                   | 11 +++++++++++
 .../ActuatorEffectivenessRotors.hpp                   |  4 +++-
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
index 3833bf5459..ae7b65b2a3 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
@@ -262,3 +262,14 @@ uint32_t ActuatorEffectivenessRotors::getUpwardsMotors() const
 
 	return upwards_motors;
 }
+
+bool
+ActuatorEffectivenessRotors::getEffectivenessMatrix(Configuration &configuration,
+		EffectivenessUpdateReason external_update)
+{
+	if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
+		return false;
+	}
+
+	return addActuators(configuration);
+}
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
index 1572a1826d..b57822dae3 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -81,6 +81,8 @@ public:
 				    bool tilt_support = false);
 	virtual ~ActuatorEffectivenessRotors() = default;
 
+	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
+
 	void getDesiredAllocationMethod(AllocationMethod allocation_method_out[MAX_NUM_MATRICES]) const override
 	{
 		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
@@ -96,7 +98,7 @@ public:
 
 	bool addActuators(Configuration &configuration);
 
-	const char *name() const override { return "Multirotor"; }
+	const char *name() const override { return "Rotors"; }
 
 	/**
 	 * Sets the motor axis from tilt configurations and current tilt control.