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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/logger/logged_topics.cpp
+1 -1
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@@ -118,7 +118,7 @@ void LoggedTopics::add_default_topics()
// multi topics
add_topic_multi("actuator_outputs", 100, 3);
add_topic_multi("airspeed_wind", 1000);
add_topic_multi("multirotor_motor_limits", 1000, 2);
add_topic_multi("control_allocator_status", 200, 2);
add_topic_multi("rate_ctrl_status", 200, 2);
add_topic_multi("telemetry_status", 1000, 4);