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ControlAllocator: clearer comment, skip unnecessary check

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Balduin 2026-01-08 15:21:55 +01:00
parent b1da6f760a
commit 3ccd8fbba5
1 changed files with 5 additions and 7 deletions
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12
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
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@ -196,13 +196,11 @@ ActuatorEffectivenessRotors::computeEffectivenessMatrix(const Geometry &geometry
float ct = geometry.rotors[i].thrust_coef;
float km = geometry.rotors[i].moment_ratio;
// When battery depletes, scale rises above 1 (initially
// designed as a compensation factor to multiply thrust and
// torque commands with). Rather than that we model it here by a decreasing
// thrust coefficient (thrust = ct * u^2)
if (battery_scale > 1.f) {
ct /= battery_scale;
}
// When battery depletes, scale rises above 1, as it was
// initially designed as a compensation factor to multiply
// thrust and torque commands with. Rather than that we model it
// here by a decreasing thrust coefficient.
ct /= battery_scale;
if (geometry.propeller_torque_disabled) {
km = 0.f;