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ControlAllocator: only use torque, not thrust sp as callback item

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan 2025-06-02 14:24:43 +02:00 committed by Ramon Roche
parent 3971db3cb4
commit f0b05ea7cf
2 changed files with 1 additions and 7 deletions
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6
src/modules/control_allocator/ControlAllocator.cpp
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@ -95,11 +95,6 @@ ControlAllocator::init()
return false;
}
if (!_vehicle_thrust_setpoint_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
#ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep
ScheduleDelayed(50_ms);
#endif
@ -309,7 +304,6 @@ ControlAllocator::Run()
{
if (should_exit()) {
_vehicle_torque_setpoint_sub.unregisterCallback();
_vehicle_thrust_setpoint_sub.unregisterCallback();
exit_and_cleanup();
return;
}

2
src/modules/control_allocator/ControlAllocator.hpp
View File

@ -175,7 +175,7 @@ private:
// Inputs
uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)}; /**< vehicle torque setpoint subscription */
uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_sub{this, ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */
uORB::Subscription _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */
uORB::Subscription _vehicle_torque_setpoint1_sub{ORB_ID(vehicle_torque_setpoint), 1}; /**< vehicle torque setpoint subscription (2. instance) */
uORB::Subscription _vehicle_thrust_setpoint1_sub{ORB_ID(vehicle_thrust_setpoint), 1}; /**< vehicle thrust setpoint subscription (2. instance) */