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ControlAllocator: unnamed scope for clarity

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Balduin
2026-01-08 11:21:23 +01:00
parent f6e64bf037
commit b1da6f760a
1 changed files with 17 additions and 14 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+17 -14
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@@ -397,24 +397,27 @@ ControlAllocator::Run()
if (do_update) {
_last_run = now;
check_for_motor_failures();
// Decide if and for what reasons the effectiveness matrix needs updating
{
check_for_motor_failures();
const hrt_abstime time_since_last_effectiveness_udpate = now - _last_effectiveness_update;
const hrt_abstime time_since_last_effectiveness_udpate = now - _last_effectiveness_update;
// If the above check_for_motor_failures has already triggered
// an effectiveness update, these timing checks all return false
// and no additional update is done. This is by design, because
// an effectiveness update due to MOTOR_ACTIVATION_UPDATE also
// updates the battery scale and directions of tiltable rotors.
// If the above check_for_motor_failures has already triggered
// an effectiveness update, these timing checks all return false
// and no additional update is done. This is by design, because
// an effectiveness update due to MOTOR_ACTIVATION_UPDATE also
// updates the battery scale and directions of tiltable rotors.
if (time_since_last_effectiveness_udpate > 1_s) {
// Update battery scaling at relatively low rate
update_effectiveness_matrix_if_needed(EffectivenessUpdateReason::BATTERY_SCALE_UPDATE);
if (time_since_last_effectiveness_udpate > 1_s) {
// Update battery scaling at relatively low rate
update_effectiveness_matrix_if_needed(EffectivenessUpdateReason::BATTERY_SCALE_UPDATE);
} else if (time_since_last_effectiveness_udpate > 100_ms) {
// Update periodically for "no external" reason,
// allowing tiltrotor directions to update.
update_effectiveness_matrix_if_needed(EffectivenessUpdateReason::NO_EXTERNAL_UPDATE);
} else if (time_since_last_effectiveness_udpate > 100_ms) {
// Update periodically for "no external" reason,
// allowing tiltrotor directions to update.
update_effectiveness_matrix_if_needed(EffectivenessUpdateReason::NO_EXTERNAL_UPDATE);
}
}
// Set control setpoint vector(s)