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refactor(control_allocation): Make type alias for actuator bitmask

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Balduin
2026-02-20 08:40:34 +01:00
committed by Balduin
parent af3cfaea25
commit b6164107d1
14 changed files with 39 additions and 31 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+4 -4
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@@ -604,11 +604,11 @@ ControlAllocator::update_effectiveness_matrix_if_needed(EffectivenessUpdateReaso
void
ControlAllocator::handle_stopped_motors(const hrt_abstime now)
{
const uint32_t stopped_motors_due_to_effectiveness = _actuator_effectiveness->getStoppedMotors();
const ActuatorBitmask stopped_motors_due_to_effectiveness = _actuator_effectiveness->getStoppedMotors();
const uint32_t stopped_motors = stopped_motors_due_to_effectiveness
| _handled_motor_failure_bitmask
| _motor_stop_mask;
const ActuatorBitmask stopped_motors = stopped_motors_due_to_effectiveness
| _handled_motor_failure_bitmask
| _motor_stop_mask;
// Handle stopped motors by setting NaN
const unsigned int allocation_index = 0;