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Ice shedding: disable feature if any upward motor has failed

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This commit is contained in:
Balduin
2026-01-23 16:02:05 +01:00
parent 34fd9c4931
commit cafd690de9
2 changed files with 15 additions and 7 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+14 -6
View File
@@ -647,7 +647,7 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
}
float
ControlAllocator::get_ice_shedding_output(hrt_abstime now)
ControlAllocator::get_ice_shedding_output(hrt_abstime now, bool any_upward_motor_failed)
{
const float period_sec = _param_ice_shedding_period.get();
const float on_sec = _param_ice_shedding_on_time.get();
@@ -661,7 +661,11 @@ ControlAllocator::get_ice_shedding_output(hrt_abstime now)
const bool has_unused_upwards_rotors = _effectiveness_source_id == EffectivenessSource::STANDARD_VTOL
|| _effectiveness_source_id == EffectivenessSource::TILTROTOR_VTOL;
const bool in_forward_flight = _actuator_effectiveness->getFlightPhase() == ActuatorEffectiveness::FlightPhase::FORWARD_FLIGHT;
const bool apply_shedding = has_unused_upwards_rotors && in_forward_flight;
// If any upward motor has failed, the feature will create much more
// torque than in the nominal case, and becomes pointless anyway as we
// cannot go back to multicopter
const bool apply_shedding = has_unused_upwards_rotors && in_forward_flight && !any_upward_motor_failed;
if (!apply_shedding) {
return 0.0f;
@@ -722,11 +726,15 @@ ControlAllocator::publish_actuator_controls()
int actuator_idx = 0;
int actuator_idx_matrix[ActuatorEffectiveness::MAX_NUM_MATRICES] {};
uint32_t stopped_motors = _actuator_effectiveness->getStoppedMotors()
| _handled_motor_failure_bitmask
| _motor_stop_mask;
const uint32_t stopped_motors_due_to_effectiveness = _actuator_effectiveness->getStoppedMotors();
const float ice_shedding_output = get_ice_shedding_output(actuator_motors.timestamp);
const uint32_t stopped_motors = stopped_motors_due_to_effectiveness
| _handled_motor_failure_bitmask
| _motor_stop_mask;
const bool any_upward_motor_failed = 0 != (stopped_motors_due_to_effectiveness & (_handled_motor_failure_bitmask | _motor_stop_mask));
const float ice_shedding_output = get_ice_shedding_output(actuator_motors.timestamp, any_upward_motor_failed);
// motors
int motors_idx;
src/modules/control_allocator/ControlAllocator.hpp
+1 -1
View File
@@ -139,7 +139,7 @@ private:
void publish_actuator_controls();
float get_ice_shedding_output(hrt_abstime now);
float get_ice_shedding_output(hrt_abstime now, bool any_upward_motor_failed);
AllocationMethod _allocation_method_id{AllocationMethod::NONE};
ControlAllocation *_control_allocation[ActuatorEffectiveness::MAX_NUM_MATRICES] {}; ///< class for control allocation calculations