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preflight check: always send tiltrotor controls

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This commit is contained in:
Balduin
2025-02-17 17:24:21 +01:00
parent 2a779663f6
commit 761810884e
1 changed files with 9 additions and 6 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+9 -6
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@@ -61,6 +61,8 @@ ControlAllocator::ControlAllocator() :
_actuator_servos_pub.advertise();
_actuator_servos_trim_pub.advertise();
_tiltrotor_extra_controls_pub.advertise();
for (int i = 0; i < MAX_NUM_MOTORS; ++i) {
char buffer[17];
snprintf(buffer, sizeof(buffer), "CA_R%u_SLEW", i);
@@ -505,7 +507,6 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
// is this the proper way to do it?
// bool tiltrotor = _effectiveness_source_id == EffectivenessSource::TILTROTOR_VTOL;
bool tiltrotor = dynamic_cast<ActuatorEffectivenessTiltrotorVTOL*>(_actuator_effectiveness) != nullptr;
PX4_INFO("tiltrotor = %d", (int) tiltrotor);
if (tiltrotor) {
max_phase = 4 * 2;
@@ -543,12 +544,14 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
tiltrotor_extra_controls_s tiltrotor_extra_controls;
if (_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls)) {
tiltrotor_extra_controls.collective_tilt_normalized_setpoint = modified_tilt_control;
tiltrotor_extra_controls.timestamp = hrt_absolute_time();
_tiltrotor_extra_controls_pub.publish(tiltrotor_extra_controls);
if (!_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls)) {
// got no message, make up thrust setpoint
tiltrotor_extra_controls.collective_thrust_normalized_setpoint = 0.;
}
tiltrotor_extra_controls.collective_tilt_normalized_setpoint = modified_tilt_control;
tiltrotor_extra_controls.timestamp = hrt_absolute_time();
_tiltrotor_extra_controls_pub.publish(tiltrotor_extra_controls);
}
// PX4_INFO("_torque_sp: %f, %f, %f", (double) _torque_sp(0), (double) _torque_sp(1), (double) _torque_sp(2));