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ControlAllocator: only run allocator on torque updates, not thrust

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-06-04 11:25:54 -04:00
committed by Daniel Agar
parent dc747b2aa3
commit dfeebe5a94
1 changed files with 0 additions and 7 deletions
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src/modules/control_allocator/ControlAllocator.cpp
-7
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@@ -390,15 +390,8 @@ ControlAllocator::Run()
} }
// Also run allocator on thrust setpoint changes if the torque setpoint
// has not been updated for more than 5ms
if (_vehicle_thrust_setpoint_sub.update(&vehicle_thrust_setpoint)) { if (_vehicle_thrust_setpoint_sub.update(&vehicle_thrust_setpoint)) {
_thrust_sp = matrix::Vector3f(vehicle_thrust_setpoint.xyz); _thrust_sp = matrix::Vector3f(vehicle_thrust_setpoint.xyz);
if (dt > 0.005f) {
do_update = true;
_timestamp_sample = vehicle_thrust_setpoint.timestamp_sample;
}
} }
if (do_update) { if (do_update) {