fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-26 07:00:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

control_allocator: set unused actuators to trim instead of min

Browse Source
This commit is contained in:
Beat Küng
2020-08-14 09:55:48 +02:00
committed by Daniel Agar
parent 3606f86518
commit 212ec821b1
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
+2 -2
View File
@@ -52,9 +52,9 @@ ControlAllocation::setEffectivenessMatrix(
_control_trim = _effectiveness * _actuator_trim;
_num_actuators = num_actuators;
// make sure unused actuators are initialized to min
// make sure unused actuators are initialized to trim
for (int i = num_actuators; i < NUM_ACTUATORS; ++i) {
_actuator_sp(i) = _actuator_min(i);
_actuator_sp(i) = _actuator_trim(i);
}
}