From 3eaede3197864546718fc8561fcf5f1f62a26d35 Mon Sep 17 00:00:00 2001
From: DrinkingHook <drinkinghook@gmail.com>
Date: Fri, 1 May 2026 11:43:20 +0800
Subject: [PATCH] fix(control_allocator): add ROVER_MECANUM actuator
 effectiveness type

---
 src/modules/control_allocator/ControlAllocator.cpp | 4 ++++
 src/modules/control_allocator/ControlAllocator.hpp | 5 +++--
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 39642bf71d..cd0150061f 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -267,6 +267,10 @@ ControlAllocator::update_effectiveness_source()
 			tmp = new ActuatorEffectivenessHelicopterCoaxial(this);
 			break;
 
+		case EffectivenessSource::ROVER_MECANUM:
+			// rover_mecanum_control does allocation and publishes directly to actuator_motors topic
+			break;
+
 		case EffectivenessSource::SPACECRAFT_2D:
 			tmp = new ActuatorEffectivenessSpacecraft(this);
 			break;
diff --git a/src/modules/control_allocator/ControlAllocator.hpp b/src/modules/control_allocator/ControlAllocator.hpp
index 99420ee95a..d8fb0071be 100644
--- a/src/modules/control_allocator/ControlAllocator.hpp
+++ b/src/modules/control_allocator/ControlAllocator.hpp
@@ -170,8 +170,9 @@ private:
 		HELICOPTER_TAIL_ESC = 10,
 		HELICOPTER_TAIL_SERVO = 11,
 		HELICOPTER_COAXIAL = 12,
-		SPACECRAFT_2D = 13,
-		SPACECRAFT_3D = 14,
+		ROVER_MECANUM = 13,
+		SPACECRAFT_2D = 14,
+		SPACECRAFT_3D = 15,
 	};
 
 	enum class FailureMode {