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Control_allocator_status.msg: remove allocated_ fields

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It's enough that the setpoints and the unallocated values are logged, from these
 the allocated values can be calculated if required.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-10-31 12:20:47 +01:00
committed by Beat Küng
parent f44713e8a3
commit 83e906e2e9
7 changed files with 7 additions and 17 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
+2 -2
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@@ -199,10 +199,10 @@ public:
virtual uint32_t getStoppedMotors() const { return 0; }
/**
* Fill in the allocated and unallocated torque and thrust, customized by effectiveness type.
* Fill in the unallocated torque and thrust, customized by effectiveness type.
* Can be implemented for every type separately. If not implemented then the effectivenes matrix is used instead.
*/
virtual void getAllocatedAndUnallocatedControl(int matrix_index, control_allocator_status_s &status) {}
virtual void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) {}
protected:
FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT}; ///< Current flight phase
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+1 -2
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@@ -217,8 +217,7 @@ void ActuatorEffectivenessHelicopter::setSaturationFlag(float coeff, bool &posit
}
}
void ActuatorEffectivenessHelicopter::getAllocatedAndUnallocatedControl(int matrix_index,
control_allocator_status_s &status)
void ActuatorEffectivenessHelicopter::getUnallocatedControl(int matrix_index, control_allocator_status_s &status)
{
// Note: the values '-1', '1' and '0' are just to indicate a negative,
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
+1 -1
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@@ -79,7 +79,7 @@ public:
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void getAllocatedAndUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
private:
float throttleSpoolupProgress();
bool mainMotorEnaged();
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+1 -2
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@@ -186,8 +186,7 @@ void ActuatorEffectivenessTiltrotorVTOL::setFlightPhase(const FlightPhase &fligh
}
}
void ActuatorEffectivenessTiltrotorVTOL::getAllocatedAndUnallocatedControl(int matrix_index,
control_allocator_status_s &status)
void ActuatorEffectivenessTiltrotorVTOL::getUnallocatedControl(int matrix_index, control_allocator_status_s &status)
{
// only handle matrix 0 (motors and tilts)
if (matrix_index == 1) {
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+1 -1
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@@ -82,7 +82,7 @@ public:
uint32_t getStoppedMotors() const override { return _stopped_motors; }
void getAllocatedAndUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
protected:
bool _collective_tilt_updated{true};
src/modules/control_allocator/ControlAllocator.cpp
+1 -7
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@@ -591,12 +591,6 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
// Allocated control
const matrix::Vector<float, NUM_AXES> &allocated_control = _control_allocation[matrix_index]->getAllocatedControl();
control_allocator_status.allocated_torque[0] = allocated_control(0);
control_allocator_status.allocated_torque[1] = allocated_control(1);
control_allocator_status.allocated_torque[2] = allocated_control(2);
control_allocator_status.allocated_thrust[0] = allocated_control(3);
control_allocator_status.allocated_thrust[1] = allocated_control(4);
control_allocator_status.allocated_thrust[2] = allocated_control(5);
// Unallocated control
const matrix::Vector<float, NUM_AXES> unallocated_control = _control_allocation[matrix_index]->getControlSetpoint() -
@@ -609,7 +603,7 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
control_allocator_status.unallocated_thrust[2] = unallocated_control(5);
// override control_allocator_status in customized saturation logic for certain effectiveness types
_actuator_effectiveness->getAllocatedAndUnallocatedControl(matrix_index, control_allocator_status);
_actuator_effectiveness->getUnallocatedControl(matrix_index, control_allocator_status);
// Allocation success flags
control_allocator_status.torque_setpoint_achieved = (Vector3f(control_allocator_status.unallocated_torque[0],