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29 lines
2.2 KiB
Markdown
29 lines
2.2 KiB
Markdown
# ControlAllocatorStatus (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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bool torque_setpoint_achieved # Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
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float32[3] unallocated_torque # Unallocated torque. Equal to 0 if the setpoint was achieved.
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# Computed as: unallocated_torque = torque_setpoint - allocated_torque
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bool thrust_setpoint_achieved # Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
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float32[3] unallocated_thrust # Unallocated thrust. Equal to 0 if the setpoint was achieved.
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# Computed as: unallocated_thrust = thrust_setpoint - allocated_thrust
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int8 ACTUATOR_SATURATION_OK = 0 # The actuator is not saturated
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int8 ACTUATOR_SATURATION_UPPER_DYN = 1 # The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster
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int8 ACTUATOR_SATURATION_UPPER = 2 # The actuator is saturated (with a value <= the desired value) because it has reached its maximum value
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int8 ACTUATOR_SATURATION_LOWER_DYN = -1 # The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster
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int8 ACTUATOR_SATURATION_LOWER = -2 # The actuator is saturated (with a value >= the desired value) because it has reached its minimum value
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int8[16] actuator_saturation # Indicates actuator saturation status.
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# Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved.
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# Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
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uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
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```
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