From 0ecf53d9115ae95b25b78efc753aef3caf8bb588 Mon Sep 17 00:00:00 2001 From: Balduin Date: Wed, 16 Jul 2025 10:46:00 +0200 Subject: [PATCH] cs_check: remove unnecessary constrain --- src/modules/control_allocator/ControlAllocator.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp index aa3360669c..8765421993 100644 --- a/src/modules/control_allocator/ControlAllocator.cpp +++ b/src/modules/control_allocator/ControlAllocator.cpp @@ -631,9 +631,7 @@ void ControlAllocator::preflight_check_handle_tilt_control(hrt_abstime now) if (_preflight_check_axis == vehicle_command_s::AXIS_COLLECTIVE_TILT) { if (is_tiltrotor) { - const float modified_tilt_control = math::constrain(_preflight_check_input, 0.f, 1.f); - - _actuator_effectiveness->overrideCollectiveTilt(true, modified_tilt_control); + _actuator_effectiveness->overrideCollectiveTilt(true, _preflight_check_input); } else { // Commanded collective tilt axis but the vehicle is not a tiltrotor. Abort