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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
2021-11-03 16:56:33 +01:00
committed by Daniel Agar
parent dd83ef1813
commit d47f9f155a
17 changed files with 115 additions and 71 deletions
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src/modules/control_allocator/ControlAllocator.hpp
-1
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@@ -112,7 +112,6 @@ private:
void publish_control_allocator_status();
void publish_legacy_actuator_controls();
void publish_legacy_multirotor_motor_limits();
enum class AllocationMethod {
NONE = -1,