fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 12:57:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

MC mixer: replace multirotor_motor_limits by control_allocator_status

Browse Source 
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
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_rate_control/MulticopterRateControl.hpp
+2 -2
View File
@@ -50,9 +50,9 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/vehicle_angular_acceleration.h>
@@ -101,7 +101,7 @@ private:
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _motor_limits_sub{ORB_ID(multirotor_motor_limits)};
uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};