dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ControlAllocation: remove actuator trim value from actuator_sp to calculate allocated control 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-10-03 18:33:11 +02:00 committed by Beat Küng
parent 4520186878
commit 6db92b4011
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
View File

@ -143,7 +143,7 @@ public:
* @return Control vector * @return Control vector
*/ */
matrix::Vector<float, NUM_AXES> getAllocatedControl() const matrix::Vector<float, NUM_AXES> getAllocatedControl() const
{ return (_effectiveness * _actuator_sp).emult(_control_allocation_scale); } { return (_effectiveness * (_actuator_sp - _actuator_trim)).emult(_control_allocation_scale); }
/** /**
* Get the control effectiveness matrix * Get the control effectiveness matrix