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control_allocation: Consistently replace with ActuatorVector alias for readability

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This commit is contained in:
Matthias Grob
2025-07-28 14:10:50 +02:00
parent 6a3a0d136b
commit 53efcbd2c2
23 changed files with 56 additions and 77 deletions
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src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp
+2 -3
View File
@@ -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<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) {}
virtual void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) {}
/**
* Get a bitmask of motors to be stopped
src/lib/control_allocation/control_allocation/ControlAllocation.hpp
+16 -16
View File
@@ -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<float, NUM_ACTUATORS> ActuatorVector;
using ActuatorVector = matrix::Vector<float, NUM_ACTUATORS>;
enum ControlAxis {
ROLL = 0,
@@ -121,7 +121,7 @@ public:
*
* @return Actuator vector
*/
const matrix::Vector<float, NUM_ACTUATORS> &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<float, NUM_ACTUATORS> &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<float, NUM_ACTUATORS> &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<float, NUM_ACTUATORS> &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<float, NUM_ACTUATORS> &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<float, NUM_ACTUATORS> &actuator_sp);
void setActuatorSetpoint(const ActuatorVector &actuator_sp);
void setSlewRateLimit(const matrix::Vector<float, NUM_ACTUATORS> &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<float, NUM_ACTUATORS> &actuator) const;
void clipActuatorSetpoint(ActuatorVector &actuator) const;
void clipActuatorSetpoint() { clipActuatorSetpoint(_actuator_sp); }
@@ -219,7 +219,7 @@ public:
*
* @return Clipped actuator setpoint
*/
matrix::Vector<float, NUM_ACTUATORS> normalizeActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator)
ActuatorVector normalizeActuatorSetpoint(const ActuatorVector &actuator)
const;
virtual void updateParameters() {}
@@ -233,12 +233,12 @@ protected:
matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> _effectiveness; ///< Effectiveness matrix
matrix::Vector<float, NUM_AXES> _control_allocation_scale; ///< Scaling applied during allocation
matrix::Vector<float, NUM_ACTUATORS> _actuator_trim; ///< Neutral actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_min; ///< Minimum actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_max; ///< Maximum actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_slew_rate_limit; ///< Slew rate limit
matrix::Vector<float, NUM_ACTUATORS> _prev_actuator_sp; ///< Previous actuator setpoint
matrix::Vector<float, NUM_ACTUATORS> _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<float, NUM_AXES> _control_sp; ///< Control setpoint
matrix::Vector<float, NUM_AXES> _control_trim; ///< Control at trim actuator values
int _num_actuators{0};