Control_allocator_status.msg: remove allocated_ fields

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>

msg/ControlAllocatorStatus.msg

@@ -1,12 +1,10 @@
 uint64 timestamp                        # time since system start (microseconds)
 
 bool torque_setpoint_achieved           # Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
-float32[3] allocated_torque             # Torque allocated to actuators. Equal to `vehicle_torque_setpoint_s::xyz` if the setpoint was achieved.
 float32[3] unallocated_torque           # Unallocated torque. Equal to 0 if the setpoint was achieved.
                                         # Computed as: unallocated_torque = torque_setpoint - allocated_torque
 
 bool thrust_setpoint_achieved           # Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
-float32[3] allocated_thrust             # Thrust allocated to actuators. Equal to `vehicle_thrust_setpoint_s::xyz` if the setpoint was achieved.
 float32[3] unallocated_thrust           # Unallocated thrust. Equal to 0 if the setpoint was achieved.
                                         # Computed as: unallocated_thrust = thrust_setpoint - allocated_thrust
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp

@@ -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

@@ -217,8 +217,7 @@ void ActuatorEffectivenessHelicopter::setSaturationFlag(float coeff, bool &posit
 	}
 }
 
-void ActuatorEffectivenessHelicopter::getAllocatedAndUnallocatedControl(int matrix_index,
+void ActuatorEffectivenessHelicopter::getUnallocatedControl(int matrix_index, control_allocator_status_s &status)
-		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

@@ -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

@@ -186,8 +186,7 @@ void ActuatorEffectivenessTiltrotorVTOL::setFlightPhase(const FlightPhase &fligh
 	}
 }
 
-void ActuatorEffectivenessTiltrotorVTOL::getAllocatedAndUnallocatedControl(int matrix_index,
+void ActuatorEffectivenessTiltrotorVTOL::getUnallocatedControl(int matrix_index, control_allocator_status_s &status)
-		control_allocator_status_s &status)
 {
 	// only handle matrix 0 (motors and tilts)
 	if (matrix_index == 1) {

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp

@@ -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

@@ -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],