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HelicopterCoaxial: correct constraining for minimum 2 swash plate servos

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This commit is contained in:
Matthias Grob
2023-04-06 15:14:38 +02:00
committed by Beat Küng
parent 20f2df4410
commit 169a0f580d
1 changed files with 1 additions and 1 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
+1 -1
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@@ -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{};