Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-20 20:03:54 +08:00
Code Issues Actions 8 Packages Projects Releases Wiki Activity

docs(control-allocator): clarify torque-triggered setpoint handling

Browse Source 
Clarify the unclear intention of how torque and thrust are handled.

Signed-off-by: Onur Özkan <work@onurozkan.dev>
This commit is contained in:
Onur Özkan
2026-04-07 22:08:09 +03:00
committed by GitHub
parent be631ed584
commit cf517f50d8
1 changed files with 8 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ControlAllocator.hpp
+8 -1
View File
@@ -186,8 +186,15 @@ private:
int _num_actuators[(int)ActuatorType::COUNT] {};
// Inputs
//
// Torque and thrust setpoints are usually published together.
// Only torque drives the callback so control allocation runs once, then Run() reads the latest thrust.
// Refs:
// - https://github.com/PX4/PX4-Autopilot/pull/24955
// - https://github.com/PX4/PX4-Autopilot/issues/24230
// - https://github.com/PX4/PX4-Autopilot/issues/26971
uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)}; /**< vehicle torque setpoint subscription */
uORB::Subscription _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */
uORB::Subscription _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription, polled when torque is triggered*/
uORB::Subscription _vehicle_torque_setpoint1_sub{ORB_ID(vehicle_torque_setpoint), 1}; /**< vehicle torque setpoint subscription (2. instance) */
uORB::Subscription _vehicle_thrust_setpoint1_sub{ORB_ID(vehicle_thrust_setpoint), 1}; /**< vehicle thrust setpoint subscription (2. instance) */