remove CA_LIN_SERVO and enable feature if CA_MAX_SERVO_THROW > 0 plus Update param description.

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp

@@ -65,7 +65,6 @@ ActuatorEffectivenessHelicopter::ActuatorEffectivenessHelicopter(ModuleParams *p
 	_param_handles.yaw_throttle_scale = param_find("CA_HELI_YAW_TH_S");
 	_param_handles.yaw_ccw = param_find("CA_HELI_YAW_CCW");
 	_param_handles.spoolup_time = param_find("COM_SPOOLUP_TIME");
-	_param_handles.linearize_servos = param_find("CA_LIN_SERVO");
 	_param_handles.max_servo_throw = param_find("CA_MAX_SVO_THROW");
 
 	updateParams();
@@ -103,14 +102,20 @@ void ActuatorEffectivenessHelicopter::updateParams()
 	int32_t yaw_ccw = 0;
 	param_get(_param_handles.yaw_ccw, &yaw_ccw);
 	_geometry.yaw_sign = (yaw_ccw == 1) ? -1.f : 1.f;
-	int32_t linearize_servos = 0;
-	param_get(_param_handles.linearize_servos, &linearize_servos);
-	_geometry.linearize_servos = (linearize_servos != 0);
 	float max_servo_throw_deg = 0.f;
 	param_get(_param_handles.max_servo_throw, &max_servo_throw_deg);
-	const float max_servo_throw = math::radians(max_servo_throw_deg);
-	_geometry.max_servo_height = sinf(max_servo_throw);
-	_geometry.inverse_max_servo_throw = 1.f / max_servo_throw;
+
+	if (max_servo_throw_deg > 0.f){
+		const float max_servo_throw = math::radians(max_servo_throw_deg);
+		_geometry.max_servo_height = sinf(max_servo_throw);
+		_geometry.inverse_max_servo_throw = 1.f / max_servo_throw;
+		_geometry.linearize_servos = 1;
+	}  else {
+		// handle any undefined behaviour
+    		_geometry.max_servo_height = 0.f;
+    		_geometry.inverse_max_servo_throw = 0.f;
+		_geometry.linearize_servos = 0;
+	}
 }
 
 bool ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configuration,

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp

@@ -120,7 +120,6 @@ private:
 		param_t yaw_throttle_scale;
 		param_t yaw_ccw;
 		param_t spoolup_time;
-		param_t linearize_servos;
 		param_t max_servo_throw;
 	};
 	ParamHandles _param_handles{};

src/modules/control_allocator/module.yaml

@@ -564,25 +564,18 @@ parameters:
           min: 0
           max: 10
           default: 0.0
-        CA_LIN_SERVO:
-          description:
-            short: linearize servo output
-            long: |
-              Linearize the servo's mechanical output attached to a 4-servos swashplate. Requires setting the servo range of motion using CA_MAX_SVO_THROW.
-          type: boolean
-          default: 0
         CA_MAX_SVO_THROW:
           description:
-            short: Defines max/min throw of servo.
+            short:  Defines max/min throw of servo for linearization. Set to zero to disable.
             long: |
-              Defines min/max throw of servo when linearizing servo output. Only used when CA_LIN_SERVO is enabled.
+              Defines min/max throw of servo. Used to linearize mechanical output of servo attached to a 4-servo swashplate. Setting to zero to disables feature.
           type: float
           decimal: 3
           unit: deg
           increment: 0.1
-          min: 5
+          min: 0
           max: 75
-          default: 50.0
+          default: 0.0
 
         # Others
         CA_FAILURE_MODE:
@@ -1147,8 +1140,6 @@ mixer:
                         name: CA_HELI_YAW_CCW
                       - label: 'Throttle spoolup time'
                         name: COM_SPOOLUP_TIME
-                      - label: 'Linearize servos'
-                        name: CA_LIN_SERVO
                       - label: 'Min/max servo throw in degrees'
                         name: CA_MAX_SVO_THROW
 
@@ -1180,8 +1171,6 @@ mixer:
                       name: CA_HELI_YAW_CCW
                     - label: 'Throttle spoolup time'
                       name: COM_SPOOLUP_TIME
-                    - label: 'Linearize servos'
-                      name: CA_LIN_SERVO
                     - label: 'Min/max servo throw in degrees'
                       name: CA_MAX_SVO_THROW