fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 03:01:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

control_allocation: Consistently replace with ActuatorVector alias for readability

Browse Source
This commit is contained in:
Matthias Grob
2025-04-30 14:55:26 +02:00
parent cb8bb6bae0
commit 97f110a3ff
23 changed files with 56 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp
+2 -3
View File
@@ -195,9 +195,8 @@ public:
* It is called after the matrix multiplication and before final clipping. * It is called after the matrix multiplication and before final clipping.
* @param actuator_sp input & output setpoint * @param actuator_sp input & output setpoint
*/ */
virtual void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, virtual void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) {}
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) {}
/** /**
* Get a bitmask of motors to be stopped * Get a bitmask of motors to be stopped
src/lib/control_allocation/control_allocation/ControlAllocation.hpp
+16 -16
View File
@@ -82,7 +82,7 @@ public:
static constexpr uint8_t NUM_ACTUATORS = ActuatorEffectiveness::NUM_ACTUATORS; static constexpr uint8_t NUM_ACTUATORS = ActuatorEffectiveness::NUM_ACTUATORS;
static constexpr uint8_t NUM_AXES = ActuatorEffectiveness::NUM_AXES; static constexpr uint8_t NUM_AXES = ActuatorEffectiveness::NUM_AXES;
typedef matrix::Vector<float, NUM_ACTUATORS> ActuatorVector; using ActuatorVector = matrix::Vector<float, NUM_ACTUATORS>;
enum ControlAxis { enum ControlAxis {
ROLL = 0, ROLL = 0,
@@ -121,7 +121,7 @@ public:
* *
* @return Actuator vector * @return Actuator vector
*/ */
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorSetpoint() const { return _actuator_sp; } const ActuatorVector &getActuatorSetpoint() const { return _actuator_sp; }
/** /**
* Set the desired control vector * Set the desired control vector
@@ -157,28 +157,28 @@ public:
* *
* @param actuator_min Minimum actuator values * @param actuator_min Minimum actuator values
*/ */
void setActuatorMin(const matrix::Vector<float, NUM_ACTUATORS> &actuator_min) { _actuator_min = actuator_min; } void setActuatorMin(const ActuatorVector &actuator_min) { _actuator_min = actuator_min; }
/** /**
* Get the minimum actuator values * Get the minimum actuator values
* *
* @return Minimum actuator values * @return Minimum actuator values
*/ */
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMin() const { return _actuator_min; } const ActuatorVector &getActuatorMin() const { return _actuator_min; }
/** /**
* Set the maximum actuator values * Set the maximum actuator values
* *
* @param actuator_max Maximum actuator values * @param actuator_max Maximum actuator values
*/ */
void setActuatorMax(const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) { _actuator_max = actuator_max; } void setActuatorMax(const ActuatorVector &actuator_max) { _actuator_max = actuator_max; }
/** /**
* Get the maximum actuator values * Get the maximum actuator values
* *
* @return Maximum actuator values * @return Maximum actuator values
*/ */
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMax() const { return _actuator_max; } const ActuatorVector &getActuatorMax() const { return _actuator_max; }
/** /**
* Set the current actuator setpoint. * Set the current actuator setpoint.
@@ -189,9 +189,9 @@ public:
* *
* @param actuator_sp Actuator setpoint * @param actuator_sp Actuator setpoint
*/ */
void setActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator_sp); void setActuatorSetpoint(const ActuatorVector &actuator_sp);
void setSlewRateLimit(const matrix::Vector<float, NUM_ACTUATORS> &slew_rate_limit) void setSlewRateLimit(const ActuatorVector &slew_rate_limit)
{ _actuator_slew_rate_limit = slew_rate_limit; } { _actuator_slew_rate_limit = slew_rate_limit; }
/** /**
@@ -206,7 +206,7 @@ public:
* *
* @param actuator Actuator vector to clip * @param actuator Actuator vector to clip
*/ */
void clipActuatorSetpoint(matrix::Vector<float, NUM_ACTUATORS> &actuator) const; void clipActuatorSetpoint(ActuatorVector &actuator) const;
void clipActuatorSetpoint() { clipActuatorSetpoint(_actuator_sp); } void clipActuatorSetpoint() { clipActuatorSetpoint(_actuator_sp); }
@@ -219,7 +219,7 @@ public:
* *
* @return Clipped actuator setpoint * @return Clipped actuator setpoint
*/ */
matrix::Vector<float, NUM_ACTUATORS> normalizeActuatorSetpoint(const matrix::Vector<float, NUM_ACTUATORS> &actuator) ActuatorVector normalizeActuatorSetpoint(const ActuatorVector &actuator)
const; const;
virtual void updateParameters() {} virtual void updateParameters() {}
@@ -233,12 +233,12 @@ protected:
matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> _effectiveness; ///< Effectiveness matrix matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> _effectiveness; ///< Effectiveness matrix
matrix::Vector<float, NUM_AXES> _control_allocation_scale; ///< Scaling applied during allocation matrix::Vector<float, NUM_AXES> _control_allocation_scale; ///< Scaling applied during allocation
matrix::Vector<float, NUM_ACTUATORS> _actuator_trim; ///< Neutral actuator values ActuatorVector _actuator_trim; ///< Neutral actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_min; ///< Minimum actuator values ActuatorVector _actuator_min; ///< Minimum actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_max; ///< Maximum actuator values ActuatorVector _actuator_max; ///< Maximum actuator values
matrix::Vector<float, NUM_ACTUATORS> _actuator_slew_rate_limit; ///< Slew rate limit ActuatorVector _actuator_slew_rate_limit; ///< Slew rate limit
matrix::Vector<float, NUM_ACTUATORS> _prev_actuator_sp; ///< Previous actuator setpoint ActuatorVector _prev_actuator_sp; ///< Previous actuator setpoint
matrix::Vector<float, NUM_ACTUATORS> _actuator_sp; ///< Actuator setpoint ActuatorVector _actuator_sp; ///< Actuator setpoint
matrix::Vector<float, NUM_AXES> _control_sp; ///< Control setpoint matrix::Vector<float, NUM_AXES> _control_sp; ///< Control setpoint
matrix::Vector<float, NUM_AXES> _control_trim; ///< Control at trim actuator values matrix::Vector<float, NUM_AXES> _control_trim; ///< Control at trim actuator values
int _num_actuators{0}; int _num_actuators{0};
src/modules/control_allocator/ControlAllocator.cpp
+4 -4
View File
@@ -150,7 +150,7 @@ ControlAllocator::update_allocation_method(bool force)
if (_allocation_method_id != configured_method || force) { if (_allocation_method_id != configured_method || force) {
matrix::Vector<float, NUM_ACTUATORS> actuator_sp[ActuatorEffectiveness::MAX_NUM_MATRICES]; ActuatorVector actuator_sp[ActuatorEffectiveness::MAX_NUM_MATRICES];
// Cleanup first // Cleanup first
for (int i = 0; i < ActuatorEffectiveness::MAX_NUM_MATRICES; ++i) { for (int i = 0; i < ActuatorEffectiveness::MAX_NUM_MATRICES; ++i) {
@@ -639,9 +639,9 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
control_allocator_status.unallocated_thrust[2]).norm_squared() < 1e-6f); control_allocator_status.unallocated_thrust[2]).norm_squared() < 1e-6f);
// Actuator saturation // Actuator saturation
const matrix::Vector<float, NUM_ACTUATORS> &actuator_sp = _control_allocation[matrix_index]->getActuatorSetpoint(); const ActuatorVector &actuator_sp = _control_allocation[matrix_index]->getActuatorSetpoint();
const matrix::Vector<float, NUM_ACTUATORS> &actuator_min = _control_allocation[matrix_index]->getActuatorMin(); const ActuatorVector &actuator_min = _control_allocation[matrix_index]->getActuatorMin();
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max = _control_allocation[matrix_index]->getActuatorMax(); const ActuatorVector &actuator_max = _control_allocation[matrix_index]->getActuatorMax();
for (int i = 0; i < NUM_ACTUATORS; i++) { for (int i = 0; i < NUM_ACTUATORS; i++) {
if (actuator_sp(i) > (actuator_max(i) - FLT_EPSILON)) { if (actuator_sp(i) > (actuator_max(i) - FLT_EPSILON)) {
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
+2 -3
View File
@@ -59,9 +59,8 @@ ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration
return (motors_added_successfully && torque_added_successfully); return (motors_added_successfully && torque_added_successfully);
} }
void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
} }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
+2 -3
View File
@@ -45,9 +45,8 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "Custom"; } const char *name() const override { return "Custom"; }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
+2 -3
View File
@@ -61,9 +61,8 @@ ActuatorEffectivenessFixedWing::getEffectivenessMatrix(Configuration &configurat
return (rotors_added_successfully && surfaces_added_successfully); return (rotors_added_successfully && surfaces_added_successfully);
} }
void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
} }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp
+2 -3
View File
@@ -51,9 +51,8 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
private: private:
ActuatorEffectivenessRotors _rotors; ActuatorEffectivenessRotors _rotors;
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+1 -2
View File
@@ -144,8 +144,7 @@ bool ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &conf
} }
void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
_saturation_flags = {}; _saturation_flags = {};
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
+2 -3
View File
@@ -81,9 +81,8 @@ public:
const Geometry &geometry() const { return _geometry; } const Geometry &geometry() const { return _geometry; }
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override; void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
private: private:
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
+1 -2
View File
@@ -102,8 +102,7 @@ bool ActuatorEffectivenessHelicopterCoaxial::getEffectivenessMatrix(Configuratio
} }
void ActuatorEffectivenessHelicopterCoaxial::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessHelicopterCoaxial::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
_saturation_flags = {}; _saturation_flags = {};
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
+2 -3
View File
@@ -69,9 +69,8 @@ public:
const Geometry &geometry() const { return _geometry; } const Geometry &geometry() const { return _geometry; }
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override; void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
private: private:
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp
+2 -3
View File
@@ -76,9 +76,8 @@ ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration
return (rotors_added_successfully && tilts_added_successfully); return (rotors_added_successfully && tilts_added_successfully);
} }
void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
actuator_sp += _tilt_offsets; actuator_sp += _tilt_offsets;
// TODO: dynamic matrix update // TODO: dynamic matrix update
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
+2 -3
View File
@@ -55,9 +55,8 @@ public:
normalize[0] = true; normalize[0] = true;
} }
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "MC Tilt"; } const char *name() const override { return "MC Tilt"; }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
+1 -2
View File
@@ -50,8 +50,7 @@ ActuatorEffectivenessRoverAckermann::getEffectivenessMatrix(Configuration &confi
} }
void ActuatorEffectivenessRoverAckermann::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessRoverAckermann::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
} }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
+2 -3
View File
@@ -43,9 +43,8 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override; bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "Rover (Ackermann)"; } const char *name() const override { return "Rover (Ackermann)"; }
private: private:
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+1 -2
View File
@@ -84,8 +84,7 @@ void ActuatorEffectivenessStandardVTOL::allocateAuxilaryControls(const float dt,
} }
void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
if (matrix_index == 0) { if (matrix_index == 0) {
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
+2 -3
View File
@@ -75,9 +75,8 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void setFlightPhase(const FlightPhase &flight_phase) override; void setFlightPhase(const FlightPhase &flight_phase) override;
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
+1 -2
View File
@@ -89,8 +89,7 @@ void ActuatorEffectivenessTailsitterVTOL::allocateAuxilaryControls(const float d
} }
void ActuatorEffectivenessTailsitterVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessTailsitterVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
if (matrix_index == 0) { if (matrix_index == 0) {
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp); stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
+2 -3
View File
@@ -72,9 +72,8 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void setFlightPhase(const FlightPhase &flight_phase) override; void setFlightPhase(const FlightPhase &flight_phase) override;
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+1 -2
View File
@@ -125,8 +125,7 @@ void ActuatorEffectivenessTiltrotorVTOL::allocateAuxilaryControls(const float dt
} }
void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
// apply tilt // apply tilt
if (matrix_index == 0) { if (matrix_index == 0) {
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+2 -3
View File
@@ -80,9 +80,8 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override; void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "VTOL Tiltrotor"; } const char *name() const override { return "VTOL Tiltrotor"; }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp
+2 -3
View File
@@ -55,9 +55,8 @@ bool ActuatorEffectivenessUUV::getEffectivenessMatrix(Configuration &configurati
return rotors_added_successfully; return rotors_added_successfully;
} }
void ActuatorEffectivenessUUV::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, void ActuatorEffectivenessUUV::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{ {
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp); stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
} }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
+2 -3
View File
@@ -54,9 +54,8 @@ public:
normalize[0] = true; normalize[0] = true;
} }
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "UUV"; } const char *name() const override { return "UUV"; }