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control_allocator: generic motor configuration for standard vtols

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This adds the pusher/puller to the standard motors and makes the axis
configurable.
This commit is contained in:
Beat Küng
2022-02-25 08:30:58 +01:00
parent b2dc9ee710
commit 76d8d8cae6
14 changed files with 66 additions and 46 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -2
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@@ -427,13 +427,13 @@ void Standard::fill_actuator_outputs()
_thrust_setpoint_0->timestamp = hrt_absolute_time();
_thrust_setpoint_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_thrust_setpoint_0->xyz[0] = 0.f;
_thrust_setpoint_0->xyz[0] = fw_out[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_0->xyz[1] = 0.f;
_thrust_setpoint_0->xyz[2] = -mc_out[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_1->timestamp = hrt_absolute_time();
_thrust_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_thrust_setpoint_1->xyz[0] = fw_out[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_1->xyz[0] = 0.f;
_thrust_setpoint_1->xyz[1] = 0.f;
_thrust_setpoint_1->xyz[2] = 0.f;