more intuitive variable names

- NB_MOTORS -> NB_ACTUATORS_MAX. the _u array also contains control surface deflections. - thrust -> throttle_cmd to match the other arguments
PX4 · Jan 8, 2025 · eacbdc2 · eacbdc2
1 parent e73e6cf
commit eacbdc2
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp
@@ -303,7 +303,7 @@ void Sih::read_motors(const float dt)
 	if (_actuator_out_sub.update(&actuators_out)) {
 		_last_actuator_output_time = actuators_out.timestamp;
 
-		for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
+		for (int i = 0; i < NUM_ACTUATORS_MAX; i++) { // saturate the motor signals
 			if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS && i > 3)) {
 				_u[i] = actuators_out.output[i];
 
@@ -352,16 +352,16 @@ void Sih::generate_force_and_torques()
 	}
 }
 
-void Sih::generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd, const float yaw_cmd, const float thrust)
+void Sih::generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd, const float yaw_cmd, const float throttle_cmd)
 {
 	const Vector3f v_B = _q_E.rotateVectorInverse(_v_E);
 	const float &alt = _lla.altitude();
 
 	_wing_l.update_aero(v_B, _w_B, alt, roll_cmd * FLAP_MAX);
 	_wing_r.update_aero(v_B, _w_B, alt, -roll_cmd * FLAP_MAX);
 
-	_tailplane.update_aero(v_B, _w_B, alt, pitch_cmd * FLAP_MAX, _T_MAX * thrust);
-	_fin.update_aero(v_B, _w_B, alt, yaw_cmd * FLAP_MAX, _T_MAX * thrust);
+	_tailplane.update_aero(v_B, _w_B, alt, pitch_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
+	_fin.update_aero(v_B, _w_B, alt, yaw_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
 	_fuselage.update_aero(v_B, _w_B, alt);
 
 	// sum of aerodynamic forces

diff --git a/src/modules/simulation/simulator_sih/sih.hpp b/src/modules/simulation/simulator_sih/sih.hpp
@@ -134,7 +134,7 @@ class Sih : public ModuleBase<Sih>, public ModuleParams
 	uORB::Subscription _actuator_out_sub{ORB_ID(actuator_outputs)};
 
 	// hard constants
-	static constexpr uint16_t NB_MOTORS = 9;
+	static constexpr uint16_t NUM_ACTUATORS_MAX = 9;
 	static constexpr float T1_C = 15.0f;                        // ground temperature in Celsius
 	static constexpr float T1_K = T1_C - atmosphere::kAbsoluteNullCelsius;   // ground temperature in Kelvin
 	static constexpr float TEMP_GRADIENT = -6.5f / 1000.0f;    // temperature gradient in degrees per metre
@@ -218,7 +218,7 @@ class Sih : public ModuleBase<Sih>, public ModuleParams
 	matrix::Vector3f    _v_E_dot{};
 	matrix::Dcmf        _R_N2E;           // local navigation to ECEF frame rotation matrix
 
-	float       _u[NB_MOTORS] {};         // thruster signals
+	float       _u[NUM_ACTUATORS_MAX] {};         // thruster signals
 
 	enum class VehicleType {MC, FW, TS, SVTOL};
 	VehicleType _vehicle = VehicleType::MC;