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FW attitdue controller: use allocator status for anti-windup

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-19 09:40:48 +02:00
parent 6aab44e425
commit 57e052d02d
2 changed files with 48 additions and 0 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+4
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@@ -56,12 +56,14 @@
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_status.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/autotune_attitude_control_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
@@ -127,6 +129,8 @@ private:
uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
uORB::SubscriptionMultiArray<control_allocator_status_s, 2> _control_allocator_status_subs{ORB_ID::control_allocator_status};
uORB::SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};
uORB::Publication<actuator_controls_s> _actuator_controls_0_pub;