From 169a0f580d02192c3c501b0429cb0fe09dde9468 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 6 Apr 2023 15:14:38 +0200 Subject: [PATCH] HelicopterCoaxial: correct constraining for minimum 2 swash plate servos --- .../ActuatorEffectivenessHelicopterCoaxial.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp index 827714cd53..abb8351449 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp @@ -67,7 +67,7 @@ void ActuatorEffectivenessHelicopterCoaxial::updateParams() return; } - _geometry.num_swash_plate_servos = math::constrain((int)count, 3, NUM_SWASH_PLATE_SERVOS_MAX); + _geometry.num_swash_plate_servos = math::constrain((int)count, 2, NUM_SWASH_PLATE_SERVOS_MAX); for (int i = 0; i < _geometry.num_swash_plate_servos; ++i) { float angle_deg{};