[Bug] modifications on print_status() in ControlAllocator have no effect

[JaimeParker]

Describe the bug

after revising custom print in ControlAllocator.cpp like this:

if (_actuator_effectiveness != nullptr) {
		PX4_INFO("Effectiveness Source: %s", _actuator_effectiveness->name());
	}

	// Print current effectiveness matrix
	for (int i = 0; i < _num_control_allocation; ++i) {
		const ActuatorEffectiveness::EffectivenessMatrix &effectiveness = _control_allocation[i]->getEffectivenessMatrix();

		if (_num_control_allocation > 1) {
			PX4_INFO("Instance: %i", i);
		}

		PX4_INFO("  custom print test.");
		PX4_INFO("  Effectiveness.T =");
		effectiveness.T().print();
		PX4_INFO("  minimum =");
		_control_allocation[i]->getActuatorMin().T().print();
		PX4_INFO("  maximum =");
		_control_allocation[i]->getActuatorMax().T().print();
		PX4_INFO("  actuator_trim =");
		_control_allocation[i]->getActuatorTrim().T().print();
		PX4_INFO("  control_trim =");
		_control_allocation[i]->getControlTrim().T().print();
		PX4_INFO("  Configured actuators: %i", _control_allocation[i]->numConfiguredActuators());
	}

and defining functions in ControlAllocation.hpp:

        const matrix::Vector<float, NUM_ACTUATORS> &getActuatorTrim() const { return _actuator_trim; }
	const matrix::Vector<float, NUM_AXES> &getControlTrim() const { return _control_trim; }

then,

• run make clean
• run make px4_sitl gazebo
• revise the mavros_posix_sitl.launch

<arg name="vehicle" default="iris_ctrlalloc"/>

and run roslaunch px4 mavros_posix_sitl.launch

then in the px4 terminal, run commander takeoff and control_allocator status

will got no new added message printed, even the string.

To Reproduce

• using PX4 Release/1.13
• revise ControlAllocator.cpp and ControlAllocation.hpp like above
• revise the launch file to use iris allocation model
• roslaunch
• run control_allocator status to check

Expected behavior

at least the added:

PX4_INFO("  custom print test.");

should be printed

Screenshot / Media

Flight Log

No response

Software Version

PX4 Release/1.13

Flight controller

px4 sitl gazebo

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

if u think this should not be a [bug] issue, welcome to discuss in the forum and close this issue, thanks a lot!

[dakejahl]

The code isn't getting recompiled. Try deleting the build directory

make clean && rm -rf build

make sure you're running the same code that you're building, that you don't accidentally have two px4 repositories downloaded.

[JaimeParker]

@dakejahl Thanks for that! I double checked that I have only one PX4 repo, and run

make clean && rm -rf build

the whole build folder is removed, and the next make px4_sitl gazbeo took longer time, but it still failed, without any custom message printed.

[dakejahl]

then your changes must not be getting saved, check git status

[JaimeParker]

@dakejahl thanks again, but weird, it do has modificaiton

[JaimeParker]

it works only in

make px4_sitl gazebo_iris_ctrlalloc

if using

roslaunch px4 mavros_poxis_sitl.launch

all custom messages will not be printed.