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Allocation: add SteeringWheel type control surface

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Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-08 13:28:17 +02:00
committed by Beat Küng
parent 9e18b351bc
commit ffb8fb4383
6 changed files with 32 additions and 11 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+5 -3
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@@ -71,9 +71,11 @@ void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<floa
actuator_controls_s actuator_controls_1;
if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
float control_flaps = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
const float flaps_control = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
const float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
const float steering_wheel_control = actuator_controls_1.control[actuator_controls_s::INDEX_YAW];
_control_surfaces.applyFlapsAirbrakesWheel(flaps_control, airbrakes_control, steering_wheel_control,
_first_control_surface_idx, actuator_sp);
}
}
}