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docs/en/msg_docs/ControlAllocatorStatus.md
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@@ -8,17 +8,17 @@ pageClass: is-wide-page
## 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 |
| actuator_group_preflight_check_active | `bool` | | | True while an actuator group preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque/thrust setpoint or collective-tilt |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_torque_setpoint_achieved"></a>torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| <a id="fld_unallocated_torque"></a>unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. |
| <a id="fld_thrust_setpoint_achieved"></a>thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| <a id="fld_unallocated_thrust"></a>unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. |
| <a id="fld_actuator_saturation"></a>actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. |
| <a id="fld_handled_motor_failure_mask"></a>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 |
| <a id="fld_motor_stop_mask"></a>motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
| <a id="fld_actuator_group_preflight_check_active"></a>actuator_group_preflight_check_active | `bool` | | | True while an actuator group preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque/thrust setpoint or collective-tilt |
## Constants