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actuators[ ] array of structs with pprz units and driver units #3205
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The issue with this (actuators in pprz_t) is that the actuators message is now also in pprz_t. So if you need to read the actuators position to adjust the trim (which should be in "driver" unit), you will have a good chance to make errors doing the conversion or just forgetting to convert it to the correct scale. |
Agreed |
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Changed to actuator struct. If you have naming recommendations let me know. This should allow us to simulate actuators directly now in I didn't change it yet because the actuator indexes often do not match and requires some harmonization (see #3203) |
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Great development!
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… when sending to the actuator_driver. actuators becomes an array
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Sample generatle
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This is now sent in |
Hi @dewagter, following this PR, I have this error when building the CobraV2 aircraft from ENAC/conf_enac.xml.
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Should be solved in #3280 ... |
In simulation / NPS, we would like to simulate all actuators. The
actuators[ ]
array can not be used because it has different units: e.g. PWM 1100 - 1900.With the new system of sending actuators to different actuator drivers, the conversion to actuator_driver units is best done when sending to the actuator_driver.
actuators_pprz
is not needed.