Controlallocatorstatus

ControlAllocatorStatus (UORB message)

source file

```c 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

```