Previously, the approach to modify collective tilt control was to send
the corresponding tiltrotor_extra_control uOrb message from
ControlAllocator, which then influences
ActuatorEffectivenessTiltrotorVTOL with minimal changes.
This was a bit hacky and introduced potentially conflicting uOrb
messages. So, with this new approach we pass the same information via
argument.
Specifically, the class ActuatorEffectiveness now declares
updateSetpoint with an extra argument, preflight_check_running. It is
only used in ActuatorEffectivenessTiltrotorVTOL, but has to be included
as a "dummy" in all other classes inheriting from ActuatorEffectiveness.
The argument can be used to bypass the collective tilt/thrust setpoints,
instead replacing them with values from public class member variables
which can be set from outside just before calling updateSetpoints.
Also, slight refactor in ControlAllocator by splitting up the functions
related to the preflight check into smaller parts
* Remove more circular dependencies with ActuatorEffectiveness
* Separate vehicle specific actuator effectiveness
Keep actuator effectivenss in control allocator
* Remove test dependency for now
* Group library directories
Fix
* Change directory names
* Rebase fix
Balduin