ControlAllocatorStatus (UORB message)

TOPICS: control_allocatorstatus

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
torque_setpoint_achieved	bool			Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
unallocated_torque	float32[3]			Unallocated torque. Equal to 0 if the setpoint was achieved.
thrust_setpoint_achieved	bool			Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
unallocated_thrust	float32[3]			Unallocated thrust. Equal to 0 if the setpoint was achieved.
actuator_saturation	int8[16]			Indicates actuator saturation status.
handled_motor_failure_mask	uint16			Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
motor_stop_mask	uint16			Bitmaks of motors stopped by failure injection

Constants

Name	Type	Value	Description
ACTUATOR_SATURATION_OK	int8	0	The actuator is not saturated
ACTUATOR_SATURATION_UPPER_DYN	int8	1	The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster
ACTUATOR_SATURATION_UPPER	int8	2	The actuator is saturated (with a value <= the desired value) because it has reached its maximum value
ACTUATOR_SATURATION_LOWER_DYN	int8	-1	The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster
ACTUATOR_SATURATION_LOWER	int8	-2	The actuator is saturated (with a value >= the desired value) because it has reached its minimum value

Source Message

Source file (GitHub)

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uint64 timestamp                        # time since system start (microseconds)

bool torque_setpoint_achieved           # Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
float32[3] unallocated_torque           # Unallocated torque. Equal to 0 if the setpoint was achieved.
                                        # Computed as: unallocated_torque = torque_setpoint - allocated_torque

bool thrust_setpoint_achieved           # Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
float32[3] unallocated_thrust           # Unallocated thrust. Equal to 0 if the setpoint was achieved.
                                        # Computed as: unallocated_thrust = thrust_setpoint - allocated_thrust

int8 ACTUATOR_SATURATION_OK        =  0 # The actuator is not saturated
int8 ACTUATOR_SATURATION_UPPER_DYN =  1 # The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster
int8 ACTUATOR_SATURATION_UPPER     =  2 # The actuator is saturated (with a value <= the desired value) because it has reached its maximum value
int8 ACTUATOR_SATURATION_LOWER_DYN = -1 # The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster
int8 ACTUATOR_SATURATION_LOWER     = -2 # The actuator is saturated (with a value >= the desired value) because it has reached its minimum value

int8[16] actuator_saturation            # Indicates actuator saturation status.
                                        # Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved.
                                        # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.

uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
uint16 motor_stop_mask                   # Bitmaks of motors stopped by failure injection