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ActuatorEffectivenessRotors: add missing getEffectivenessMatrix

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Fixes MOTORS_6DOF
This commit is contained in:
Beat Küng
2022-04-27 11:37:04 +02:00
committed by Daniel Agar
parent efdf5b8fce
commit 4338976247
2 changed files with 14 additions and 1 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+11
View File
@@ -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);
}
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+3 -1
View File
@@ -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.