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CA: rename normalize_rpy to normalize_as_planar_mc

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To make clear that this normalization method is optimized
for planar multicopters.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-02-15 16:41:04 +01:00
parent b9aa8818a4
commit fd9d0211aa
11 changed files with 14 additions and 14 deletions
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src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+2 -2
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@@ -226,7 +226,7 @@ public:
int numConfiguredActuators() const { return _num_actuators; }
void setNormalizeRPY(bool normalize_rpy) { _normalize_rpy = normalize_rpy; }
void setNormalizeAsPlanarMC(bool normalize_as_mc) { _normalize_matrix_as_planar_mc = normalize_as_mc; }
protected:
friend class ControlAllocator; // for _actuator_sp
@@ -242,6 +242,6 @@ protected:
matrix::Vector<float, NUM_AXES> _control_sp; ///< Control setpoint
matrix::Vector<float, NUM_AXES> _control_trim; ///< Control at trim actuator values
int _num_actuators{0};
bool _normalize_rpy{false}; ///< if true, normalize roll, pitch and yaw columns
bool _normalize_matrix_as_planar_mc{false}; ///< if true, normalize roll, pitch and yaw columns optimized for planar MC
bool _had_actuator_failure{false};
};