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MC mixer: replace multirotor_motor_limits by control_allocator_status

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CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix

MCRateControl: use control_allocator_status to get saturation info
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bresch
2021-11-09 10:35:10 -05:00
committed by Daniel Agar
parent dd83ef1813
commit d47f9f155a
17 changed files with 115 additions and 71 deletions
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src/drivers/pwm_out/PWMOut.hpp
-1
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@@ -59,7 +59,6 @@
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
using namespace time_literals;