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MC mixer: replace multirotor_motor_limits by control_allocator_status

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CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix

MCRateControl: use control_allocator_status to get saturation info
This commit is contained in:
bresch
2021-11-03 16:56:33 +01:00
committed by Daniel Agar
parent dd83ef1813
commit d47f9f155a
17 changed files with 115 additions and 71 deletions
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msg/CMakeLists.txt
-1
View File
@@ -109,7 +109,6 @@ set(msg_files
mission.msg
mission_result.msg
mount_orientation.msg
multirotor_motor_limits.msg
navigator_mission_item.msg
obstacle_distance.msg
offboard_control_mode.msg
msg/multirotor_motor_limits.msg
-14
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@@ -1,14 +0,0 @@
uint64 timestamp # time since system start (microseconds)
uint16 saturation_status # Integer bit mask indicating which axes in the control mixer are saturated
# 0 - True if the saturation status is valid
# 1 - True if any motor is saturated at the upper limit
# 2 - True if any motor is saturated at the lower limit
# 3 - True if a positive roll increment will increase motor saturation
# 4 - True if negative roll increment will increase motor saturation
# 5 - True if positive pitch increment will increase motor saturation
# 6 - True if negative pitch increment will increase motor saturation
# 7 - True if positive yaw increment will increase motor saturation
# 8 - True if negative yaw increment will increase motor saturation
# 9 - True if positive thrust increment will increase motor saturation
# 10 - True if negative thrust increment will increase motor saturation