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Boats: stop motors when commanding zero speed

This commit is contained in:
Matthias Grob 2023-05-03 15:16:42 +02:00
parent 95a35c972d
commit 6b7aed3d44
2 changed files with 14 additions and 1 deletions
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9
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
View File

@ -48,9 +48,10 @@ ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration
return false;
}
// motors
// Motors
_motors.enablePropellerTorque(false);
const bool motors_added_successfully = _motors.addActuators(configuration);
_motors_mask = _motors.getMotors();
// Torque
const bool torque_added_successfully = _torque.addActuators(configuration);
@ -58,3 +59,9 @@ ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration
return (motors_added_successfully && torque_added_successfully);
}
void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}

6
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
View File

@ -45,9 +45,15 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "Custom"; }
protected:
ActuatorEffectivenessRotors _motors;
ActuatorEffectivenessControlSurfaces _torque;
uint32_t _motors_mask{};
};