From 9c767ff1eea9ac53a9fbbab03119353eb6ec8635 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Wed, 24 Nov 2021 10:46:36 +0100
Subject: [PATCH] control_allocator: make effective source name a class member

---
 .../ActuatorEffectiveness.hpp                  |  5 +++++
 .../ActuatorEffectivenessMultirotor.hpp        |  2 ++
 .../ActuatorEffectivenessStandardVTOL.hpp      |  2 ++
 .../ActuatorEffectivenessTiltrotorVTOL.hpp     |  2 ++
 .../control_allocator/ControlAllocator.cpp     | 18 ++----------------
 5 files changed, 13 insertions(+), 16 deletions(-)

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
index a99947b6c6..ad8714eda0 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
@@ -103,6 +103,11 @@ public:
 	 */
 	virtual int numActuators() const = 0;
 
+	/**
+	 * Display name
+	 */
+	virtual const char *name() const = 0;
+
 protected:
 	matrix::Vector<float, NUM_ACTUATORS> _trim;			///< Actuator trim
 	FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT};		///< Current flight phase
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
index 9c87f08754..678ed40a09 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
@@ -79,6 +79,8 @@ public:
 	bool getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix, bool force) override;
 
 	int numActuators() const override { return _num_actuators; }
+
+	const char *name() const override { return "Multirotor"; }
 private:
 	bool _updated{true};
 	int _num_actuators{0};
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
index e3de20e583..473e522f1a 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
@@ -59,6 +59,8 @@ public:
 	void setFlightPhase(const FlightPhase &flight_phase) override;
 
 	int numActuators() const override { return 7; }
+
+	const char *name() const override { return "Standard VTOL"; }
 protected:
 	bool _updated{true};
 };
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
index 1204fc8e86..a947ad32b5 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
@@ -59,6 +59,8 @@ public:
 	void setFlightPhase(const FlightPhase &flight_phase) override;
 
 	int numActuators() const override { return 10; }
+
+	const char *name() const override { return "VTOL Tiltrotor"; }
 protected:
 	bool _updated{true};
 };
diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 73c908ffa9..90c1797ffd 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -442,22 +442,8 @@ int ControlAllocator::print_status()
 	}
 
 	// Print current airframe
-	switch ((EffectivenessSource)_param_ca_airframe.get()) {
-	case EffectivenessSource::NONE:
-		PX4_INFO("EffectivenessSource: None");
-		break;
-
-	case EffectivenessSource::MULTIROTOR:
-		PX4_INFO("EffectivenessSource: MC parameters");
-		break;
-
-	case EffectivenessSource::STANDARD_VTOL:
-		PX4_INFO("EffectivenessSource: Standard VTOL");
-		break;
-
-	case EffectivenessSource::TILTROTOR_VTOL:
-		PX4_INFO("EffectivenessSource: Tiltrotor VTOL");
-		break;
+	if (_actuator_effectiveness != nullptr) {
+		PX4_INFO("Effectiveness Source: %s", _actuator_effectiveness->name());
 	}
 
 	// Print current effectiveness matrix