From cf5917d188f2d7f1754fef7306051014734ebc16 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Fri, 6 Aug 2021 17:08:02 +0200
Subject: [PATCH] control_allocator: restructure param update

recompute effectiveness on param change
clear update at the end
---
 src/modules/control_allocator/ControlAllocator.cpp | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 1bb0ae312f..c8bbc95ec0 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -245,16 +245,18 @@ ControlAllocator::Run()
 
 	// Check if parameters have changed
 	if (_parameter_update_sub.updated()) {
-		// clear update
-		parameter_update_s param_update;
-		_parameter_update_sub.copy(&param_update);
+		updateParams();
+		parameters_updated();
 
 		if (_control_allocation) {
 			_control_allocation->updateParameters();
 		}
 
-		updateParams();
-		parameters_updated();
+		update_effectiveness_matrix_if_needed();
+
+		// clear update
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
 	}
 
 	if (_control_allocation == nullptr || _actuator_effectiveness == nullptr) {