final piece, from allocator set actuators nan before slew limiting

src/lib/control_allocation/control_allocation/ControlAllocation.hpp

@@ -222,6 +222,24 @@ public:
 	ActuatorVector normalizeActuatorSetpoint(const ActuatorVector &actuator)
 	const;
 
+	/**
+	 * Apply a mask of actuators to be set to NaN.
+	 *
+	 * A NaN value in _actuator_sp represents a disabled or stopped actuator.
+	 * This mask is typically used to stop motors in specific flight phases or when certain thrust components are NaN.
+	 *
+	 * @param nan_actuators_mask Bitmask indicating which actuators to set to NaN.
+	 *                           If (nan_actuators_mask & (1 << i)), _actuator_sp(i) becomes NaN.
+	 */
+	void applyNanToActuators(uint32_t nan_actuators_mask)
+	{
+		for (int i = 0; i < _num_actuators && i < 32; i++) {
+			if (nan_actuators_mask & (1u << i)) {
+				_actuator_sp(i) = NAN;
+			}
+		}
+	}
+
 	virtual void updateParameters() {}
 
 	int numConfiguredActuators() const { return _num_actuators; }

src/modules/control_allocator/ControlAllocator.cpp

@@ -456,6 +456,10 @@ ControlAllocator::Run()
 			_actuator_effectiveness->updateSetpoint(c[i], i, _control_allocation[i]->_actuator_sp,
 								_control_allocation[i]->getActuatorMin(), _control_allocation[i]->getActuatorMax());
 
+			if (i == 0) {
+				_control_allocation[i]->applyNanToActuators(_actuator_effectiveness->getStoppedMotors());
+			}
+
 			if (_has_slew_rate) {
 				_control_allocation[i]->applySlewRateLimit(dt);
 			}