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HelicopterCoaxial: only publish unallocated thrust in the saturation case

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This commit is contained in:
Matthias Grob
2023-09-28 08:55:06 +02:00
committed by Beat Küng
parent 169a0f580d
commit 8a2d2fb1cd
1 changed files with 12 additions and 0 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
+12
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@@ -185,6 +185,9 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
} else if (_saturation_flags.roll_neg) { } else if (_saturation_flags.roll_neg) {
status.unallocated_torque[0] = -1.f; status.unallocated_torque[0] = -1.f;
} else {
status.unallocated_torque[0] = 0.f;
} }
if (_saturation_flags.pitch_pos) { if (_saturation_flags.pitch_pos) {
@@ -192,6 +195,9 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
} else if (_saturation_flags.pitch_neg) { } else if (_saturation_flags.pitch_neg) {
status.unallocated_torque[1] = -1.f; status.unallocated_torque[1] = -1.f;
} else {
status.unallocated_torque[1] = 0.f;
} }
if (_saturation_flags.yaw_pos) { if (_saturation_flags.yaw_pos) {
@@ -199,6 +205,9 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
} else if (_saturation_flags.yaw_neg) { } else if (_saturation_flags.yaw_neg) {
status.unallocated_torque[2] = -1.f; status.unallocated_torque[2] = -1.f;
} else {
status.unallocated_torque[2] = 0.f;
} }
if (_saturation_flags.thrust_pos) { if (_saturation_flags.thrust_pos) {
@@ -206,5 +215,8 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
} else if (_saturation_flags.thrust_neg) { } else if (_saturation_flags.thrust_neg) {
status.unallocated_thrust[2] = -1.f; status.unallocated_thrust[2] = -1.f;
} else {
status.unallocated_torque[2] = 0.f;
} }
} }