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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/ControlAllocator.cpp
+3 -3
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@@ -168,8 +168,8 @@ ControlAllocator::update_allocation_method(bool force)
AllocationMethod desired_methods[ActuatorEffectiveness::MAX_NUM_MATRICES];
_actuator_effectiveness->getDesiredAllocationMethod(desired_methods);
bool normalize_rpy[ActuatorEffectiveness::MAX_NUM_MATRICES];
_actuator_effectiveness->getNormalizeRPY(normalize_rpy);
bool normalize_as_planar_mc[ActuatorEffectiveness::MAX_NUM_MATRICES];
_actuator_effectiveness->getNormalizeAsPlanarMC(normalize_as_planar_mc);
for (int i = 0; i < _num_control_allocation; ++i) {
AllocationMethod method = configured_method;
@@ -197,7 +197,7 @@ ControlAllocator::update_allocation_method(bool force)
_num_control_allocation = 0;
} else {
_control_allocation[i]->setNormalizeRPY(normalize_rpy[i]);
_control_allocation[i]->setNormalizeAsPlanarMC(normalize_as_planar_mc[i]);
_control_allocation[i]->setActuatorSetpoint(actuator_sp[i]);
}
}