refactor(control_allocation): Make type alias for actuator bitmask

src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.cpp

@@ -84,10 +84,10 @@ int ActuatorEffectiveness::Configuration::totalNumActuators() const
 	return total_count;
 }
 
-void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(uint32_t stoppable_motors_mask, ActuatorVector &actuator_sp)
+void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(ActuatorBitmask stoppable_motors_mask, ActuatorVector &actuator_sp)
 {
 	for (int actuator_idx = 0; actuator_idx < NUM_ACTUATORS; actuator_idx++) {
-		const uint32_t motor_mask = (1u << actuator_idx);
+		const ActuatorBitmask motor_mask = (1u << actuator_idx);
 
 		if (stoppable_motors_mask & motor_mask) {
 

src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp

@@ -88,6 +88,10 @@ public:
 
 	using EffectivenessMatrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>;
 	using ActuatorVector = matrix::Vector<float, NUM_ACTUATORS>;
+	using ActuatorBitmask = uint32_t;
+
+	static_assert(NUM_ACTUATORS <= 8 * sizeof(ActuatorBitmask),
+		      "NUM_ACTUATORS exceeds the number of bits available in the mask type.");
 
 	enum class FlightPhase {
 		HOVER_FLIGHT = 0,
@@ -201,7 +205,7 @@ public:
 	/**
 	 * Get a bitmask of motors to be stopped
 	 */
-	virtual uint32_t getStoppedMotors() const { return _stopped_motors_mask; }
+	virtual ActuatorBitmask getStoppedMotors() const { return _stopped_motors_mask; }
 
 	/**
 	 * Fill in the unallocated torque and thrust, customized by effectiveness type.
@@ -215,9 +219,9 @@ public:
 	 * @param stoppable_motors_mask mask of motors that should be stopped if there's no thrust demand
 	 * @param actuator_sp outcome of the allocation to determine if the motor should be stopped
 	 */
-	virtual void stopMaskedMotorsWithZeroThrust(uint32_t stoppable_motors_mask, ActuatorVector &actuator_sp);
+	virtual void stopMaskedMotorsWithZeroThrust(ActuatorBitmask stoppable_motors_mask, ActuatorVector &actuator_sp);
 
 protected:
 	FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT};
-	uint32_t _stopped_motors_mask{0};
+	ActuatorBitmask _stopped_motors_mask{0};
 };

src/lib/control_allocation/control_allocation/ControlAllocation.hpp

@@ -83,6 +83,7 @@ public:
 	static constexpr uint8_t NUM_AXES = ActuatorEffectiveness::NUM_AXES;
 
 	using ActuatorVector = matrix::Vector<float, NUM_ACTUATORS>;
+	using ActuatorBitmask = ActuatorEffectiveness::ActuatorBitmask;
 
 	enum ControlAxis {
 		ROLL = 0,
@@ -231,7 +232,7 @@ public:
 	 * @param nan_actuators_mask Bitmask indicating which actuators to set to NaN.
 	 *                           If (nan_actuators_mask & (1 << i)), _actuator_sp(i) becomes NaN.
 	 */
-	void applyNanToActuators(uint32_t nan_actuators_mask)
+	void applyNanToActuators(ActuatorBitmask nan_actuators_mask)
 	{
 		for (int i = 0; i < _num_actuators; i++) {
 			if (nan_actuators_mask & (1u << i)) {

src/modules/control_allocator/ControlAllocator.cpp

@@ -604,11 +604,11 @@ ControlAllocator::update_effectiveness_matrix_if_needed(EffectivenessUpdateReaso
 void
 ControlAllocator::handle_stopped_motors(const hrt_abstime now)
 {
-	const uint32_t stopped_motors_due_to_effectiveness = _actuator_effectiveness->getStoppedMotors();
+	const ActuatorBitmask stopped_motors_due_to_effectiveness = _actuator_effectiveness->getStoppedMotors();
 
-	const uint32_t stopped_motors = stopped_motors_due_to_effectiveness
-					| _handled_motor_failure_bitmask
-					| _motor_stop_mask;
+	const ActuatorBitmask stopped_motors = stopped_motors_due_to_effectiveness
+					       | _handled_motor_failure_bitmask
+					       | _motor_stop_mask;
 
 	// Handle stopped motors by setting NaN
 	const unsigned int allocation_index = 0;

src/modules/control_allocator/ControlAllocator.hpp

@@ -96,6 +96,7 @@ public:
 
 
 	using ActuatorVector = ActuatorEffectiveness::ActuatorVector;
+	using ActuatorBitmask = ActuatorEffectiveness::ActuatorBitmask;
 
 	ControlAllocator();
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp

@@ -54,5 +54,5 @@ protected:
 	ActuatorEffectivenessRotors _motors;
 	ActuatorEffectivenessControlSurfaces _torque;
 
-	uint32_t _motors_mask{};
+	ActuatorBitmask _motors_mask{};
 };

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp

@@ -65,5 +65,5 @@ private:
 
 	int _first_control_surface_idx{0}; ///< applies to matrix 1
 
-	uint32_t _forwards_motors_mask{};
+	ActuatorBitmask _forwards_motors_mask{};
 };

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp

@@ -224,14 +224,14 @@ ActuatorEffectivenessRotors::computeEffectivenessMatrix(const Geometry &geometry
 	return num_actuators;
 }
 
-uint32_t ActuatorEffectivenessRotors::updateAxisFromTilts(const ActuatorEffectivenessTilts &tilts,
+ActuatorBitmask ActuatorEffectivenessRotors::updateAxisFromTilts(const ActuatorEffectivenessTilts &tilts,
 		float collective_tilt_control)
 {
 	if (!PX4_ISFINITE(collective_tilt_control)) {
 		collective_tilt_control = -1.f;
 	}
 
-	uint32_t nontilted_motors = 0;
+	ActuatorBitmask nontilted_motors = 0;
 
 	for (int i = 0; i < _geometry.num_rotors; ++i) {
 		int tilt_index = _geometry.rotors[i].tilt_index;
@@ -256,9 +256,9 @@ Vector3f ActuatorEffectivenessRotors::tiltedAxis(float tilt_angle, float tilt_di
 	return Dcmf{Eulerf{0.f, -tilt_angle, tilt_direction}} * axis;
 }
 
-uint32_t ActuatorEffectivenessRotors::getMotors() const
+ActuatorBitmask ActuatorEffectivenessRotors::getMotors() const
 {
-	uint32_t motors = 0;
+	ActuatorBitmask motors = 0;
 
 	for (int i = 0; i < _geometry.num_rotors; ++i) {
 		motors |= 1u << i;
@@ -267,9 +267,9 @@ uint32_t ActuatorEffectivenessRotors::getMotors() const
 	return motors;
 }
 
-uint32_t ActuatorEffectivenessRotors::getUpwardsMotors() const
+ActuatorBitmask ActuatorEffectivenessRotors::getUpwardsMotors() const
 {
-	uint32_t upwards_motors = 0;
+	ActuatorBitmask upwards_motors = 0;
 
 	for (int i = 0; i < _geometry.num_rotors; ++i) {
 		const Vector3f &axis = _geometry.rotors[i].axis;
@@ -282,9 +282,9 @@ uint32_t ActuatorEffectivenessRotors::getUpwardsMotors() const
 	return upwards_motors;
 }
 
-uint32_t ActuatorEffectivenessRotors::getForwardsMotors() const
+ActuatorBitmask ActuatorEffectivenessRotors::getForwardsMotors() const
 {
-	uint32_t forward_motors = 0;
+	ActuatorBitmask forward_motors = 0;
 
 	for (int i = 0; i < _geometry.num_rotors; ++i) {
 		const Vector3f &axis = _geometry.rotors[i].axis;

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp

@@ -51,6 +51,8 @@ class ActuatorEffectivenessTilts;
 
 using namespace time_literals;
 
+using ActuatorBitmask = ActuatorEffectiveness::ActuatorBitmask;
+
 class ActuatorEffectivenessRotors : public ModuleParams, public ActuatorEffectiveness
 {
 public:
@@ -108,7 +110,7 @@ public:
 	 * @param tilt_control current tilt control in [-1, 1] (can be NAN)
 	 * @return the motors as bitset which are not tiltable
 	 */
-	uint32_t updateAxisFromTilts(const ActuatorEffectivenessTilts &tilts, float tilt_control);
+	ActuatorBitmask updateAxisFromTilts(const ActuatorEffectivenessTilts &tilts, float tilt_control);
 
 	const Geometry &geometry() const { return _geometry; }
 
@@ -126,9 +128,9 @@ public:
 
 	void enableThreeDimensionalThrust(bool enable) { _geometry.three_dimensional_thrust_disabled = !enable; }
 
-	uint32_t getMotors() const;
-	uint32_t getUpwardsMotors() const;
-	uint32_t getForwardsMotors() const;
+	ActuatorBitmask getMotors() const;
+	ActuatorBitmask getUpwardsMotors() const;
+	ActuatorBitmask getForwardsMotors() const;
 
 private:
 	void updateParams() override;

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp

@@ -48,5 +48,5 @@ public:
 
 	const char *name() const override { return "Rover (Ackermann)"; }
 private:
-	uint32_t _motors_mask{};
+	ActuatorBitmask _motors_mask{};
 };

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp

@@ -84,8 +84,8 @@ private:
 	ActuatorEffectivenessRotors _rotors;
 	ActuatorEffectivenessControlSurfaces _control_surfaces;
 
-	uint32_t _upwards_motors_mask{};
-	uint32_t _forwards_motors_mask{};
+	ActuatorBitmask _upwards_motors_mask{};
+	ActuatorBitmask _forwards_motors_mask{};
 
 	int _first_control_surface_idx{0}; ///< applies to matrix 1
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp

@@ -84,7 +84,7 @@ protected:
 	ActuatorEffectivenessRotors _mc_rotors;
 	ActuatorEffectivenessControlSurfaces _control_surfaces;
 
-	uint32_t _forwards_motors_mask{};
+	ActuatorBitmask _forwards_motors_mask{};
 
 	int _first_control_surface_idx{0}; ///< applies to matrix 1
 

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp

@@ -93,8 +93,8 @@ protected:
 	ActuatorEffectivenessControlSurfaces _control_surfaces;
 	ActuatorEffectivenessTilts _tilts;
 
-	uint32_t _motors{};
-	uint32_t _untiltable_motors{};
+	ActuatorBitmask _motors{};
+	ActuatorBitmask _untiltable_motors{};
 
 	int _first_control_surface_idx{0}; ///< applies to matrix 1
 	int _first_tilt_idx{0}; ///< applies to matrix 0

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp

@@ -62,5 +62,5 @@ public:
 protected:
 	ActuatorEffectivenessRotors _rotors;
 
-	uint32_t _motors_mask{};
+	ActuatorBitmask _motors_mask{};
 };