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control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets

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Beat Küng
2021-10-18 18:45:19 -04:00
committed by Daniel Agar
parent 0c5a79d84d
commit a51c465b54
13 changed files with 56 additions and 42 deletions
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src/modules/logger/logged_topics.cpp
+13 -9
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@@ -50,8 +50,6 @@ void LoggedTopics::add_default_topics()
add_topic("actuator_controls_1", 100);
add_topic("actuator_controls_2", 100);
add_topic("actuator_controls_3", 100);
add_topic("actuator_controls_4", 100);
add_topic("actuator_controls_5", 100);
add_topic("actuator_controls_status_0", 300);
add_topic("airspeed", 1000);
add_topic("airspeed_validated", 200);
@@ -115,13 +113,6 @@ void LoggedTopics::add_default_topics()
add_topic("vtol_vehicle_status", 200);
add_topic("wind", 1000);
// Control allocation topics
add_topic("vehicle_actuator_setpoint", 20);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_thrust_setpoint", 20);
add_topic("vehicle_torque_setpoint", 20);
// multi topics
add_topic_multi("actuator_outputs", 100, 3);
add_topic_multi("airspeed_wind", 1000);
@@ -188,6 +179,19 @@ void LoggedTopics::add_default_topics()
if (gps_dump_comm >= 1) {
add_topic("gps_dump");
}
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
if (sys_ctrl_alloc >= 1) {
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic("vehicle_actuator_setpoint", 20);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_thrust_setpoint", 20);
add_topic("vehicle_torque_setpoint", 20);
}
}
void LoggedTopics::add_high_rate_topics()