fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool

msg/control_allocator_status.msg

@@ -1,11 +1,11 @@
 uint64 timestamp                        # time since system start (microseconds)
 
-uint8 torque_setpoint_achieved          # Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
+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] allocated_torque             # Torque allocated to actuators. Equal to `vehicle_torque_setpoint_s::xyz` if the setpoint was achieved.
 float32[3] unallocated_torque           # Unallocated torque. Equal to 0 if the setpoint was achieved.
                                         # Computed as: unallocated_torque = torque_setpoint - allocated_torque
 
-uint8 thrust_setpoint_achieved          # Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
+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] allocated_thrust             # Thrust allocated to actuators. Equal to `vehicle_thrust_setpoint_s::xyz` if the setpoint was achieved.
 float32[3] unallocated_thrust           # Unallocated thrust. Equal to 0 if the setpoint was achieved.
                                         # Computed as: unallocated_thrust = thrust_setpoint - allocated_thrust

src/modules/angular_velocity_controller/AngularVelocityController.cpp

@@ -185,14 +185,13 @@ AngularVelocityController::Run()
 			}
 
 			// update saturation status from mixer feedback
-			if (_control_allocator_status_sub.updated()) {
 			control_allocator_status_s control_allocator_status;
 
-				if (_control_allocator_status_sub.copy(&control_allocator_status)) {
+			if (_control_allocator_status_sub.update(&control_allocator_status)) {
 				Vector<bool, 3> saturation_positive;
 				Vector<bool, 3> saturation_negative;
 
-					if (not control_allocator_status.torque_setpoint_achieved) {
+				if (!control_allocator_status.torque_setpoint_achieved) {
 					for (size_t i = 0; i < 3; i++) {
 						if (control_allocator_status.unallocated_torque[i] > FLT_EPSILON) {
 							saturation_positive(i) = true;
@@ -205,7 +204,6 @@ AngularVelocityController::Run()
 
 				_control.setSaturationStatus(saturation_positive, saturation_negative);
 			}
-			}
 
 			// run rate controller
 			_control.update(angular_velocity, _angular_velocity_sp, _angular_acceleration, dt, _maybe_landed || _landed);