fix(control_allocation): fix erroneous NaN in unallocated thrust/torque - #28489
Merged
mbjd merged 1 commit intoSep 3, 2026
Merged
mbjd merged 1 commit into
mbjd merged 1 commit into
Conversation
Copy link
Copy Markdown
Contributor
Sorry, something went wrong.
Commit af3cfae introduced a small semantic change in _actuator_sp: - prior to that commit it was always the output of the allocation algorithm, i.e. if 0 thrust was allocated the _actuator_sp was 0, and the NaN needed to stop some motors only entered the picture when populating the actuator_motors message in publish_actuator_controls - after that commit, we change _actuator_sp itself to be NaN when the corresponding motor should be stopped This breaks consumers of _actuator_sp that expect there to be a finite, physical thrust in _actuator_sp. One such consumer is publish_control_allocator_status, which produces NaN if the _actuator_sp is NaN and is thus currently useless. Fix: Convert NaNs back to zero in getAllocatedControl so all consumers of that work as before.
Copy link
Copy Markdown
Contributor
🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 72 byte (0 %)] FILE SIZE VM SIZE
-------------- --------------
+0.0% +72 +0.0% +72 .text
[NEW] +240 [NEW] +240 ControlAllocation::getAllocatedControl()
-31.6% -168 -31.6% -168 ControlAllocator::publish_control_allocator_status()
+0.0% +51 [ = ] 0 .debug_abbrev
+0.0% +8 [ = ] 0 .debug_aranges
+0.0% +36 [ = ] 0 .debug_frame
+0.0% +496 [ = ] 0 .debug_info
+0.0% +181 [ = ] 0 .debug_line
-42.9% -3 [ = ] 0 [Unmapped]
+0.0% +184 [ = ] 0 [section .debug_line]
+0.0% +155 [ = ] 0 .debug_loclists
+0.0% +17 [ = ] 0 .debug_rnglists
[DEL] -1 [ = ] 0 [Unmapped]
+0.0% +18 [ = ] 0 [section .debug_rnglists]
-1.2% -3 [ = ] 0 .shstrtab
+0.0% +47 [ = ] 0 .strtab
[NEW] +47 [ = ] 0 ControlAllocation::getAllocatedControl()
+52% +16 [ = ] 0 __nxsched_process_timer_veneer
-38.1% -16 [ = ] 0 __nxsem_freeholder_veneer
+0.0% +32 [ = ] 0 .symtab
[NEW] +16 [ = ] 0 ControlAllocation::getAllocatedControl()
+0.1% +16 [ = ] 0 [section .symtab]
+33% +16 [ = ] 0 ___ZN4uORB7Manager17get_device_masterEv_veneer
-33.3% -16 [ = ] 0 ____aeabi_l2f_veneer
+50% +16 [ = ] 0 __net_unlock_veneer
+67% +32 [ = ] 0 __nxsched_process_timer_veneer
-40.0% -32 [ = ] 0 __nxsem_freeholder_veneer
-25.0% -16 [ = ] 0 __up_dma_rxavailable_veneer
-0.6% -72 [ = ] 0 [Unmapped]
+0.0% +1020 +0.0% +72 TOTAL
FILE SIZE VM SIZE
-------------- --------------
+0.0% +72 +0.0% +72 .text
[NEW] +240 [NEW] +240 ControlAllocation::getAllocatedControl()
-31.6% -168 -31.6% -168 ControlAllocator::publish_control_allocator_status()
+0.0% +51 [ = ] 0 .debug_abbrev
+0.0% +8 [ = ] 0 .debug_aranges
+0.0% +36 [ = ] 0 .debug_frame
+0.0% +496 [ = ] 0 .debug_info
+0.0% +189 [ = ] 0 .debug_line
[NEW] +5 [ = ] 0 [Unmapped]
+0.0% +184 [ = ] 0 [section .debug_line]
+0.0% +155 [ = ] 0 .debug_loclists
+0.0% +17 [ = ] 0 .debug_rnglists
-33.3% -1 [ = ] 0 [Unmapped]
+0.0% +18 [ = ] 0 [section .debug_rnglists]
-1.3% -3 [ = ] 0 .shstrtab
+0.0% +47 [ = ] 0 .strtab
[NEW] +47 [ = ] 0 ControlAllocation::getAllocatedControl()
+0.0% +32 [ = ] 0 .symtab
[NEW] +16 [ = ] 0 ControlAllocation::getAllocatedControl()
+0.1% +16 [ = ] 0 [section .symtab]
-1.0% -72 [ = ] 0 [Unmapped]
+0.0% +1.00Ki +0.0% +72 TOTAL
Updated: 2026-09-01T13:23:33 |
Sorry, something went wrong.
sfuhrer
approved these changes
Sep 3, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Solved Problem
Commit af3cfae (#26530) introduced a semantic change in _actuator_sp:
This breaks consumers of _actuator_sp that expect there to be a finite, physical thrust in _actuator_sp. One such consumer is publish_control_allocator_status, which produces NaN if the _actuator_sp is NaN and is thus currently useless.
Solution
Convert NaNs back to zero in getAllocatedControl so all consumers of that work as before.
Test coverage
sihsim_standard_vtol, take off and then increase SIH_WIND_N to 10 m/s to cause unallocated thrust.
Before: unallocated thrust/torque are NaN
After: unallocated thrust/torque correctly logged