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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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src/modules/control_allocator/ControlAllocator.cpp
-6
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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;
}