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Changes ControlAllocator to always publish actuator controls and status

This commit is contained in:
Charles Cross 2022-02-19 12:11:41 -08:00 committed by Beat Küng
parent 59f9a40584
commit 51c055832f
1 changed files with 8 additions and 8 deletions
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16
src/modules/control_allocator/ControlAllocator.cpp
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@ -398,16 +398,16 @@ ControlAllocator::Run()
_control_allocation[i]->clipActuatorSetpoint();
}
}
// Publish actuator setpoint and allocator status
publish_actuator_controls();
// Publish actuator setpoint and allocator status
publish_actuator_controls();
// Publish status at limited rate, as it's somewhat expensive and we use it for slower dynamics
// (i.e. anti-integrator windup)
if (now - _last_status_pub >= 5_ms) {
publish_control_allocator_status();
_last_status_pub = now;
}
// Publish status at limited rate, as it's somewhat expensive and we use it for slower dynamics
// (i.e. anti-integrator windup)
if (now - _last_status_pub >= 5_ms) {
publish_control_allocator_status();
_last_status_pub = now;
}
perf_end(_loop_perf);