From 66fe3aa2b3a01a6608567aab835e057844d2770a Mon Sep 17 00:00:00 2001 From: Silvan Date: Mon, 2 Jun 2025 14:25:54 +0200 Subject: [PATCH] ControlAllocator: only run allocator on torque updates, not thrust Signed-off-by: Silvan --- src/modules/control_allocator/ControlAllocator.cpp | 7 ------- 1 file changed, 7 deletions(-) diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp index c3950aed4f..a7e43a64e3 100644 --- a/src/modules/control_allocator/ControlAllocator.cpp +++ b/src/modules/control_allocator/ControlAllocator.cpp @@ -390,15 +390,8 @@ ControlAllocator::Run() } - // Also run allocator on thrust setpoint changes if the torque setpoint - // has not been updated for more than 5ms if (_vehicle_thrust_setpoint_sub.update(&vehicle_thrust_setpoint)) { _thrust_sp = matrix::Vector3f(vehicle_thrust_setpoint.xyz); - - if (dt > 0.005f) { - do_update = true; - _timestamp_sample = vehicle_thrust_setpoint.timestamp_sample; - } } if (do_update) {