From 53efcbd2c261301fa635a3081787904640fd7252 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 25 Apr 2025 17:41:12 +0200 Subject: [PATCH] control_allocation: Consistently replace with ActuatorVector alias for readability --- .../ActuatorEffectiveness.hpp | 5 ++- .../control_allocation/ControlAllocation.hpp | 32 +++++++++---------- .../control_allocator/ControlAllocator.cpp | 8 ++--- .../ActuatorEffectivenessCustom.cpp | 5 ++- .../ActuatorEffectivenessCustom.hpp | 5 ++- .../ActuatorEffectivenessFixedWing.cpp | 5 ++- .../ActuatorEffectivenessFixedWing.hpp | 5 ++- .../ActuatorEffectivenessHelicopter.cpp | 3 +- .../ActuatorEffectivenessHelicopter.hpp | 5 ++- ...ActuatorEffectivenessHelicopterCoaxial.cpp | 3 +- ...ActuatorEffectivenessHelicopterCoaxial.hpp | 5 ++- .../ActuatorEffectivenessMCTilt.cpp | 5 ++- .../ActuatorEffectivenessMCTilt.hpp | 5 ++- .../ActuatorEffectivenessRoverAckermann.cpp | 3 +- .../ActuatorEffectivenessRoverAckermann.hpp | 5 ++- .../ActuatorEffectivenessStandardVTOL.cpp | 3 +- .../ActuatorEffectivenessStandardVTOL.hpp | 5 ++- .../ActuatorEffectivenessTailsitterVTOL.cpp | 3 +- .../ActuatorEffectivenessTailsitterVTOL.hpp | 5 ++- .../ActuatorEffectivenessTiltrotorVTOL.cpp | 3 +- .../ActuatorEffectivenessTiltrotorVTOL.hpp | 5 ++- .../ActuatorEffectivenessUUV.cpp | 5 ++- .../ActuatorEffectivenessUUV.hpp | 5 ++- 23 files changed, 56 insertions(+), 77 deletions(-) diff --git a/src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp b/src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp index 444714b960..ffc2315b72 100644 --- a/src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp +++ b/src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp @@ -195,9 +195,8 @@ public: * It is called after the matrix multiplication and before final clipping. * @param actuator_sp input & output setpoint */ - virtual void updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) {} + virtual void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) {} /** * Get a bitmask of motors to be stopped diff --git a/src/lib/control_allocation/control_allocation/ControlAllocation.hpp b/src/lib/control_allocation/control_allocation/ControlAllocation.hpp index a6e2e2b254..a106120026 100644 --- a/src/lib/control_allocation/control_allocation/ControlAllocation.hpp +++ b/src/lib/control_allocation/control_allocation/ControlAllocation.hpp @@ -82,7 +82,7 @@ public: static constexpr uint8_t NUM_ACTUATORS = ActuatorEffectiveness::NUM_ACTUATORS; static constexpr uint8_t NUM_AXES = ActuatorEffectiveness::NUM_AXES; - typedef matrix::Vector ActuatorVector; + using ActuatorVector = matrix::Vector; enum ControlAxis { ROLL = 0, @@ -121,7 +121,7 @@ public: * * @return Actuator vector */ - const matrix::Vector &getActuatorSetpoint() const { return _actuator_sp; } + const ActuatorVector &getActuatorSetpoint() const { return _actuator_sp; } /** * Set the desired control vector @@ -157,28 +157,28 @@ public: * * @param actuator_min Minimum actuator values */ - void setActuatorMin(const matrix::Vector &actuator_min) { _actuator_min = actuator_min; } + void setActuatorMin(const ActuatorVector &actuator_min) { _actuator_min = actuator_min; } /** * Get the minimum actuator values * * @return Minimum actuator values */ - const matrix::Vector &getActuatorMin() const { return _actuator_min; } + const ActuatorVector &getActuatorMin() const { return _actuator_min; } /** * Set the maximum actuator values * * @param actuator_max Maximum actuator values */ - void setActuatorMax(const matrix::Vector &actuator_max) { _actuator_max = actuator_max; } + void setActuatorMax(const ActuatorVector &actuator_max) { _actuator_max = actuator_max; } /** * Get the maximum actuator values * * @return Maximum actuator values */ - const matrix::Vector &getActuatorMax() const { return _actuator_max; } + const ActuatorVector &getActuatorMax() const { return _actuator_max; } /** * Set the current actuator setpoint. @@ -189,9 +189,9 @@ public: * * @param actuator_sp Actuator setpoint */ - void setActuatorSetpoint(const matrix::Vector &actuator_sp); + void setActuatorSetpoint(const ActuatorVector &actuator_sp); - void setSlewRateLimit(const matrix::Vector &slew_rate_limit) + void setSlewRateLimit(const ActuatorVector &slew_rate_limit) { _actuator_slew_rate_limit = slew_rate_limit; } /** @@ -206,7 +206,7 @@ public: * * @param actuator Actuator vector to clip */ - void clipActuatorSetpoint(matrix::Vector &actuator) const; + void clipActuatorSetpoint(ActuatorVector &actuator) const; void clipActuatorSetpoint() { clipActuatorSetpoint(_actuator_sp); } @@ -219,7 +219,7 @@ public: * * @return Clipped actuator setpoint */ - matrix::Vector normalizeActuatorSetpoint(const matrix::Vector &actuator) + ActuatorVector normalizeActuatorSetpoint(const ActuatorVector &actuator) const; virtual void updateParameters() {} @@ -233,12 +233,12 @@ protected: matrix::Matrix _effectiveness; ///< Effectiveness matrix matrix::Vector _control_allocation_scale; ///< Scaling applied during allocation - matrix::Vector _actuator_trim; ///< Neutral actuator values - matrix::Vector _actuator_min; ///< Minimum actuator values - matrix::Vector _actuator_max; ///< Maximum actuator values - matrix::Vector _actuator_slew_rate_limit; ///< Slew rate limit - matrix::Vector _prev_actuator_sp; ///< Previous actuator setpoint - matrix::Vector _actuator_sp; ///< Actuator setpoint + ActuatorVector _actuator_trim; ///< Neutral actuator values + ActuatorVector _actuator_min; ///< Minimum actuator values + ActuatorVector _actuator_max; ///< Maximum actuator values + ActuatorVector _actuator_slew_rate_limit; ///< Slew rate limit + ActuatorVector _prev_actuator_sp; ///< Previous actuator setpoint + ActuatorVector _actuator_sp; ///< Actuator setpoint matrix::Vector _control_sp; ///< Control setpoint matrix::Vector _control_trim; ///< Control at trim actuator values int _num_actuators{0}; diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp index 8b322ef94c..e0dc14bcbe 100644 --- a/src/modules/control_allocator/ControlAllocator.cpp +++ b/src/modules/control_allocator/ControlAllocator.cpp @@ -145,7 +145,7 @@ ControlAllocator::update_allocation_method(bool force) if (_allocation_method_id != configured_method || force) { - matrix::Vector actuator_sp[ActuatorEffectiveness::MAX_NUM_MATRICES]; + ActuatorVector actuator_sp[ActuatorEffectiveness::MAX_NUM_MATRICES]; // Cleanup first for (int i = 0; i < ActuatorEffectiveness::MAX_NUM_MATRICES; ++i) { @@ -626,9 +626,9 @@ ControlAllocator::publish_control_allocator_status(int matrix_index) control_allocator_status.unallocated_thrust[2]).norm_squared() < 1e-6f); // Actuator saturation - const matrix::Vector &actuator_sp = _control_allocation[matrix_index]->getActuatorSetpoint(); - const matrix::Vector &actuator_min = _control_allocation[matrix_index]->getActuatorMin(); - const matrix::Vector &actuator_max = _control_allocation[matrix_index]->getActuatorMax(); + const ActuatorVector &actuator_sp = _control_allocation[matrix_index]->getActuatorSetpoint(); + const ActuatorVector &actuator_min = _control_allocation[matrix_index]->getActuatorMin(); + const ActuatorVector &actuator_max = _control_allocation[matrix_index]->getActuatorMax(); for (int i = 0; i < NUM_ACTUATORS; i++) { if (actuator_sp(i) > (actuator_max(i) - FLT_EPSILON)) { diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp index ead2043682..6e5ccbe44a 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp @@ -59,9 +59,8 @@ ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration return (motors_added_successfully && torque_added_successfully); } -void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) +void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); } diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp index b7906669f2..e2f5d4dfa6 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp @@ -45,9 +45,8 @@ public: bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; const char *name() const override { return "Custom"; } diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp index 0a4516ba56..e91783cf80 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp @@ -61,9 +61,8 @@ ActuatorEffectivenessFixedWing::getEffectivenessMatrix(Configuration &configurat return (rotors_added_successfully && surfaces_added_successfully); } -void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) +void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); } diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp index f0b095709e..0633cbc875 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp @@ -51,9 +51,8 @@ public: void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; private: ActuatorEffectivenessRotors _rotors; diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp index 967706a6d8..67182b0590 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp @@ -144,8 +144,7 @@ bool ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &conf } void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) + int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { _saturation_flags = {}; diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp index 78df3abec1..fda121c0b5 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp @@ -81,9 +81,8 @@ public: const Geometry &geometry() const { return _geometry; } - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override; private: diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp index 40e956df99..ab38b31922 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp @@ -102,8 +102,7 @@ bool ActuatorEffectivenessHelicopterCoaxial::getEffectivenessMatrix(Configuratio } void ActuatorEffectivenessHelicopterCoaxial::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) + int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { _saturation_flags = {}; diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp index e97c31c0da..2156eb4a02 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp @@ -69,9 +69,8 @@ public: const Geometry &geometry() const { return _geometry; } - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override; private: diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp index a8effa8cb3..984ab00f9d 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp @@ -76,9 +76,8 @@ ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration return (rotors_added_successfully && tilts_added_successfully); } -void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) +void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { actuator_sp += _tilt_offsets; // TODO: dynamic matrix update diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp index 0b12482781..2fd5923824 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp @@ -55,9 +55,8 @@ public: normalize[0] = true; } - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; const char *name() const override { return "MC Tilt"; } diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp index e9eda4c538..45256b87cc 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp @@ -50,8 +50,7 @@ ActuatorEffectivenessRoverAckermann::getEffectivenessMatrix(Configuration &confi } void ActuatorEffectivenessRoverAckermann::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) + int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); } diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp index f6108b4baf..82b07733bf 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp @@ -43,9 +43,8 @@ public: bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; const char *name() const override { return "Rover (Ackermann)"; } private: diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp index f15624dd67..0b7d3934c1 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp @@ -84,8 +84,7 @@ void ActuatorEffectivenessStandardVTOL::allocateAuxilaryControls(const float dt, } void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) + int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { if (matrix_index == 0) { stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp index 9f945a6cd8..4879c6b022 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp @@ -75,9 +75,8 @@ public: void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; void setFlightPhase(const FlightPhase &flight_phase) override; diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp index 559101c106..05fcaf675e 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp @@ -89,8 +89,7 @@ void ActuatorEffectivenessTailsitterVTOL::allocateAuxilaryControls(const float d } void ActuatorEffectivenessTailsitterVTOL::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) + int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { if (matrix_index == 0) { stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp index 708f104faa..c7a588954f 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp @@ -72,9 +72,8 @@ public: void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; void setFlightPhase(const FlightPhase &flight_phase) override; diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp index 93ac6783d6..3042ab825b 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp @@ -125,8 +125,7 @@ void ActuatorEffectivenessTiltrotorVTOL::allocateAuxilaryControls(const float dt } void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) + int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { // apply tilt if (matrix_index == 0) { diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp index 512bd41f41..db7b37304b 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp @@ -80,9 +80,8 @@ public: void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; const char *name() const override { return "VTOL Tiltrotor"; } diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp index e4c861a9d0..7bc7730cfb 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp @@ -55,9 +55,8 @@ bool ActuatorEffectivenessUUV::getEffectivenessMatrix(Configuration &configurati return rotors_added_successfully; } -void ActuatorEffectivenessUUV::updateSetpoint(const matrix::Vector &control_sp, - int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) +void ActuatorEffectivenessUUV::updateSetpoint(const matrix::Vector &control_sp, int matrix_index, + ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) { stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); } diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp index 1b89da8d9b..78e52c34aa 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp @@ -54,9 +54,8 @@ public: normalize[0] = true; } - void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, - ActuatorVector &actuator_sp, const matrix::Vector &actuator_min, - const matrix::Vector &actuator_max) override; + void updateSetpoint(const matrix::Vector &control_sp, int matrix_index, ActuatorVector &actuator_sp, + const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override; const char *name() const override { return "UUV"; }