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ControlAllocator: only use torque, not thrust sp as callback item

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-06-02 14:24:43 +02:00
committed by Ramon Roche
parent 3971db3cb4
commit f0b05ea7cf
2 changed files with 1 additions and 7 deletions
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src/modules/control_allocator/ControlAllocator.cpp
-6
View File
@@ -95,11 +95,6 @@ ControlAllocator::init()
return false; return false;
} }
if (!_vehicle_thrust_setpoint_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
#ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep #ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep
ScheduleDelayed(50_ms); ScheduleDelayed(50_ms);
#endif #endif
@@ -309,7 +304,6 @@ ControlAllocator::Run()
{ {
if (should_exit()) { if (should_exit()) {
_vehicle_torque_setpoint_sub.unregisterCallback(); _vehicle_torque_setpoint_sub.unregisterCallback();
_vehicle_thrust_setpoint_sub.unregisterCallback();
exit_and_cleanup(); exit_and_cleanup();
return; return;
} }
src/modules/control_allocator/ControlAllocator.hpp
+1 -1
View File
@@ -175,7 +175,7 @@ private:
// Inputs // Inputs
uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)}; /**< vehicle torque setpoint subscription */ uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)}; /**< vehicle torque setpoint subscription */
uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_sub{this, ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */ uORB::Subscription _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */
uORB::Subscription _vehicle_torque_setpoint1_sub{ORB_ID(vehicle_torque_setpoint), 1}; /**< vehicle torque setpoint subscription (2. instance) */ 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) */ uORB::Subscription _vehicle_thrust_setpoint1_sub{ORB_ID(vehicle_thrust_setpoint), 1}; /**< vehicle thrust setpoint subscription (2. instance) */