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CA: reload CA matrix to newly created CA class properly

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Also remove the dependency of ActuatorEffectivenessMultirotor
to param update uORB topic; the CA module
sends a "force" parameter when needed
This commit is contained in:
bresch
2021-08-17 09:53:39 +02:00
committed by Daniel Agar
parent cf5917d188
commit f09b34007e
9 changed files with 28 additions and 35 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+3 -2
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@@ -47,9 +47,10 @@ ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL()
}
bool
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix)
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
bool force)
{
if (!_updated) {
if (!(_updated || force)) {
return false;
}