Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 02:36:37 +08:00
Code Issues Actions 32 Packages Projects Releases Wiki Activity

fix(control_allocator): add ROVER_MECANUM actuator effectiveness type

Browse Source
This commit is contained in:
DrinkingHook
2026-05-01 11:43:20 +08:00
committed by Matthias Grob
parent 761447e12e
commit 3eaede3197
2 changed files with 7 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ControlAllocator.cpp
+4
View File
@@ -267,6 +267,10 @@ ControlAllocator::update_effectiveness_source()
tmp = new ActuatorEffectivenessHelicopterCoaxial(this); tmp = new ActuatorEffectivenessHelicopterCoaxial(this);
break; break;
case EffectivenessSource::ROVER_MECANUM:
// rover_mecanum_control does allocation and publishes directly to actuator_motors topic
break;
case EffectivenessSource::SPACECRAFT_2D: case EffectivenessSource::SPACECRAFT_2D:
tmp = new ActuatorEffectivenessSpacecraft(this); tmp = new ActuatorEffectivenessSpacecraft(this);
break; break;
src/modules/control_allocator/ControlAllocator.hpp
+3 -2
View File
@@ -170,8 +170,9 @@ private:
HELICOPTER_TAIL_ESC = 10, HELICOPTER_TAIL_ESC = 10,
HELICOPTER_TAIL_SERVO = 11, HELICOPTER_TAIL_SERVO = 11,
HELICOPTER_COAXIAL = 12, HELICOPTER_COAXIAL = 12,
SPACECRAFT_2D = 13, ROVER_MECANUM = 13,
SPACECRAFT_3D = 14, SPACECRAFT_2D = 14,
SPACECRAFT_3D = 15,
}; };
enum class FailureMode { enum class FailureMode {