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CA: refactor logic for matrix updating

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-pass flag EffectivenessUpdateReason into effectiveness, indicating if there was an external
update or not. Reasons for external updates are:
  -config changes (parameter)
  -motor failure detected or certain redundant motors are switched off to save energy

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-02-14 09:23:10 +01:00
committed by Beat Küng
parent 36d440f895
commit df0e402c44
28 changed files with 209 additions and 92 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
+1 -1
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@@ -53,7 +53,7 @@ public:
ActuatorEffectivenessStandardVTOL(ModuleParams *parent);
virtual ~ActuatorEffectivenessStandardVTOL() = default;
bool getEffectivenessMatrix(Configuration &configuration, bool force) override;
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
const char *name() const override { return "Standard VTOL"; }