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preflight check: fix range

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This commit is contained in:
Balduin
2025-02-18 13:03:38 +01:00
parent 71afdb5680
commit 122643af25
1 changed files with 3 additions and 2 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+3 -2
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@@ -521,7 +521,7 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
int axis = _preflight_check_phase / 2;
int negative = _preflight_check_phase % 2;
float modified_tilt_control = 0.f;
float modified_tilt_control = 0.5f;
if (axis < 3) {
c[0](0) = 0.;
@@ -538,7 +538,8 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
} else {
// axis 4 = tiltrotor.
modified_tilt_control = negative ? -1.f : 1.f;
// collective tilt normalised control goes from 0 to 1.
modified_tilt_control = negative ? 0.f : 1.f;
}
tiltrotor_extra_controls_s tiltrotor_extra_controls;