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VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics

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MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
This commit is contained in:
Silvan Fuhrer
2023-03-16 11:55:45 +01:00
committed by Beat Küng
parent bcd6e7adee
commit b16f16598b
47 changed files with 332 additions and 549 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+1 -1
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@@ -226,7 +226,7 @@ ActuatorEffectivenessRotors::computeEffectivenessMatrix(const Geometry &geometry
effectiveness(0 + 3, i + actuator_start_index) = 0.f;
effectiveness(1 + 3, i + actuator_start_index) = 0.f;
effectiveness(2 + 3, i + actuator_start_index) = ct;
effectiveness(2 + 3, i + actuator_start_index) = -ct;
}
}