Remove INDEX_COLLECTIVE_TILT from actuator_controls and instead use new topic tiltrotor_extra_controls

Tiltrotor_extra_controls also contains collective thrust beside collective tilt, as passing a 3D
thrust setpoint vector beside the tilt is not feasible.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp

@@ -43,7 +43,6 @@
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 
-#include <uORB/topics/actuator_controls.h>
 #include <uORB/Subscription.hpp>
 
 class ActuatorEffectivenessTailsitterVTOL : public ModuleParams, public ActuatorEffectiveness
@@ -81,6 +80,4 @@ protected:
 	uint32_t _stopped_motors{}; ///< currently stopped motors
 
 	int _first_control_surface_idx{0}; ///< applies to matrix 1
-
-	uORB::Subscription _actuator_controls_1_sub{ORB_ID(actuator_controls_1)};
 };

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp

@@ -110,10 +110,11 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
 
 	// apply tilt
 	if (matrix_index == 0) {
-		actuator_controls_s actuator_controls_1;
 
-		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
-			float control_collective_tilt = actuator_controls_1.control[actuator_controls_s::INDEX_COLLECTIVE_TILT] * 2.f - 1.f;
+		tiltrotor_extra_controls_s tiltrotor_extra_controls;
+
+		if (_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls)) {
+			float control_collective_tilt = tiltrotor_extra_controls.collective_tilt_normalized_setpoint * 2.f - 1.f;
 
 			// set control_collective_tilt to exactly -1 or 1 if close to these end points
 			control_collective_tilt = control_collective_tilt < -0.99f ? -1.f : control_collective_tilt;
@@ -133,16 +134,12 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
 					actuator_sp(i + _first_tilt_idx) += control_collective_tilt;
 				}
 			}
-		}
 
-		// in FW directly use throttle sp
-		if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
+			// in FW directly use throttle sp
+			if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
 
-			actuator_controls_s actuator_controls_0;
-
-			if (_actuator_controls_0_sub.copy(&actuator_controls_0)) {
 				for (int i = 0; i < _first_tilt_idx; ++i) {
-					actuator_sp(i) = actuator_controls_0.control[actuator_controls_s::INDEX_THROTTLE];
+					actuator_sp(i) = tiltrotor_extra_controls.collective_thrust_normalized_setpoint;
 				}
 			}
 		}

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp

@@ -46,6 +46,7 @@
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 #include "ActuatorEffectivenessTilts.hpp"
 
+#include <uORB/topics/tiltrotor_extra_controls.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/Subscription.hpp>
 
@@ -107,4 +108,6 @@ protected:
 	};
 
 	YawTiltSaturationFlags _yaw_tilt_saturation_flags{};
+
+	uORB::Subscription _tiltrotor_extra_controls_sub{ORB_ID(tiltrotor_extra_controls)};
 };