control_allocator: update matrix normalization

- only normalize rpy for MC matrices
- for thrust use the 3D vector, so it works for FW and tilt rotors as well

This keeps MC unchanged.

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp

@@ -132,6 +132,16 @@ public:
 		}
 	}
 
+	/**
+	 * Query if the roll, pitch and yaw columns of the mixing matrix should be normalized
+	 */
+	virtual void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const
+	{
+		for (int i = 0; i < MAX_NUM_MATRICES; ++i) {
+			normalize[i] = false;
+		}
+	}
+
 	/**
 	 * Get the control effectiveness matrix if updated
 	 *

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp

@@ -50,6 +50,11 @@ public:
 		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
 	}
 
+	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	{
+		normalize[0] = true;
+	}
+
 	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
 			    ActuatorVector &actuator_sp) override;
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp

@@ -85,6 +85,11 @@ public:
 		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
 	}
 
+	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	{
+		normalize[0] = true;
+	}
+
 	static int computeEffectivenessMatrix(const Geometry &geometry,
 					      EffectivenessMatrix &effectiveness, int actuator_start_index = 0);
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp

@@ -66,6 +66,12 @@ public:
 		allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
 	}
 
+	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	{
+		normalize[0] = true;
+		normalize[1] = false;
+	}
+
 	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
 			    ActuatorVector &actuator_sp) override;
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp

@@ -63,6 +63,12 @@ public:
 		allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
 	}
 
+	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	{
+		normalize[0] = true;
+		normalize[1] = false;
+	}
+
 	void setFlightPhase(const FlightPhase &flight_phase) override;
 
 	const char *name() const override { return "VTOL Tailsitter"; }

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp

@@ -66,6 +66,12 @@ public:
 		allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
 	}
 
+	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	{
+		normalize[0] = true;
+		normalize[1] = false;
+	}
+
 	void setFlightPhase(const FlightPhase &flight_phase) override;
 
 	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,