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CA: remove legacy motor stopping logic

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2026-02-16 17:42:19 +01:00
parent 32c94bd3b1
commit add0f89615
15 changed files with 0 additions and 89 deletions
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src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.cpp
-18
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@@ -83,21 +83,3 @@ int ActuatorEffectiveness::Configuration::totalNumActuators() const
return total_count;
}
void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(uint32_t stoppable_motors_mask, ActuatorVector &actuator_sp)
{
for (int actuator_idx = 0; actuator_idx < NUM_ACTUATORS; actuator_idx++) {
const uint32_t motor_mask = (1u << actuator_idx);
if (stoppable_motors_mask & motor_mask) {
// Stop motor if its setpoint is below 2%. This value was determined empirically (RC stick inaccuracy)
if (fabsf(actuator_sp(actuator_idx)) < .02f) {
_stopped_motors_mask |= motor_mask;
} else {
_stopped_motors_mask &= ~motor_mask;
}
}
}
}
src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp
-8
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@@ -209,14 +209,6 @@ public:
*/
virtual void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) {}
/**
* Stops motors which are masked by stoppable_motors_mask and whose demanded thrust is zero
*
* @param stoppable_motors_mask mask of motors that should be stopped if there's no thrust demand
* @param actuator_sp outcome of the allocation to determine if the motor should be stopped
*/
virtual void stopMaskedMotorsWithZeroThrust(uint32_t stoppable_motors_mask, ActuatorVector &actuator_sp);
protected:
FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT};
uint32_t _stopped_motors_mask{0};
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
-6
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@@ -58,9 +58,3 @@ ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration
return (motors_added_successfully && torque_added_successfully);
}
void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
-3
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@@ -45,9 +45,6 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const char *name() const override { return "Custom"; }
protected:
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
-6
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@@ -61,12 +61,6 @@ ActuatorEffectivenessFixedWing::getEffectivenessMatrix(Configuration &configurat
return (rotors_added_successfully && surfaces_added_successfully);
}
void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
}
void ActuatorEffectivenessFixedWing::allocateAuxilaryControls(const float dt, int matrix_index,
ActuatorVector &actuator_sp)
{
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp
-3
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@@ -51,9 +51,6 @@ public:
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, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
private:
ActuatorEffectivenessRotors _rotors;
ActuatorEffectivenessControlSurfaces _control_surfaces;
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
-6
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@@ -48,9 +48,3 @@ ActuatorEffectivenessRoverAckermann::getEffectivenessMatrix(Configuration &confi
configuration.addActuator(ActuatorType::SERVOS, Vector3f{0.f, 0.f, 1.f}, Vector3f{});
return true;
}
void ActuatorEffectivenessRoverAckermann::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
-3
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@@ -43,9 +43,6 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const char *name() const override { return "Rover (Ackermann)"; }
private:
uint32_t _motors_mask{};
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
-8
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@@ -83,14 +83,6 @@ void ActuatorEffectivenessStandardVTOL::allocateAuxilaryControls(const float dt,
}
}
void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
if (matrix_index == 0) {
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
}
}
void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
if (_flight_phase == flight_phase) {
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
-3
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@@ -75,9 +75,6 @@ public:
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, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
void setFlightPhase(const FlightPhase &flight_phase) override;
private:
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
-8
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@@ -88,14 +88,6 @@ void ActuatorEffectivenessTailsitterVTOL::allocateAuxilaryControls(const float d
}
}
void ActuatorEffectivenessTailsitterVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
if (matrix_index == 0) {
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
}
}
void ActuatorEffectivenessTailsitterVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
if (_flight_phase == flight_phase) {
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
-4
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@@ -72,10 +72,6 @@ public:
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, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
void setFlightPhase(const FlightPhase &flight_phase) override;
const char *name() const override { return "VTOL Tailsitter"; }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
-4
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@@ -205,10 +205,6 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
}
}
}
if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
stopMaskedMotorsWithZeroThrust(_motors & ~_untiltable_motors, actuator_sp);
}
}
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp
-6
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@@ -54,9 +54,3 @@ bool ActuatorEffectivenessUUV::getEffectivenessMatrix(Configuration &configurati
return rotors_added_successfully;
}
void ActuatorEffectivenessUUV::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
-3
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@@ -54,9 +54,6 @@ public:
normalize[0] = true;
}
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const char *name() const override { return "UUV"; }
protected: