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control_allocation: Consistently replace with ActuatorVector alias for readability

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This commit is contained in:
Matthias Grob
2025-04-25 17:41:12 +02:00
parent 6a3a0d136b
commit 53efcbd2c2
23 changed files with 56 additions and 77 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+4 -4
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@@ -145,7 +145,7 @@ ControlAllocator::update_allocation_method(bool force)
if (_allocation_method_id != configured_method || force) {
matrix::Vector<float, NUM_ACTUATORS> 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<float, NUM_ACTUATORS> &actuator_sp = _control_allocation[matrix_index]->getActuatorSetpoint();
const matrix::Vector<float, NUM_ACTUATORS> &actuator_min = _control_allocation[matrix_index]->getActuatorMin();
const matrix::Vector<float, NUM_ACTUATORS> &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)) {