From 3943025f32906713ade0fa59eb021dc13d939d47 Mon Sep 17 00:00:00 2001
From: somebody-once-told-me
 <155648712+somebody-once-told-me@users.noreply.github.com>
Date: Wed, 20 Nov 2024 03:52:36 -0500
Subject: [PATCH] Centralize yaw margin (#23982)

---
 .../ControlAllocationSequentialDesaturation.cpp               | 2 +-
 .../ControlAllocationSequentialDesaturation.hpp               | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp
index 83be2a3b33..4b28f44dac 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp
@@ -219,7 +219,7 @@ ControlAllocationSequentialDesaturation::mixYaw()
 	// Change yaw acceleration to unsaturate the outputs if needed (do not change roll/pitch),
 	// and allow some yaw response at maximum thrust
 	ActuatorVector max_prev = _actuator_max;
-	_actuator_max += (_actuator_max - _actuator_min) * 0.15f;
+	_actuator_max += (_actuator_max - _actuator_min) * MINIMUM_YAW_MARGIN;
 	desaturateActuators(_actuator_sp, yaw);
 	_actuator_max = max_prev;
 
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp
index 53c422cd39..dfa69d9777 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp
@@ -57,6 +57,10 @@ public:
 	void allocate() override;
 
 	void updateParameters() override;
+
+	// This is the minimum actuator yaw granted when the controller is saturated.
+	// In the yaw-only case where outputs are saturated, thrust is reduced by up to this amount.
+	static constexpr float MINIMUM_YAW_MARGIN{0.15f};
 private:
 
 	/**