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Ice shedding: always update last ice shedding time

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This means that when the feature is enabled in flight, the slew rate is
correctly applied assuming that the previous value was 0
This commit is contained in:
Balduin
2026-01-23 16:02:06 +01:00
parent 370c09b687
commit 4fa13c2422
1 changed files with 2 additions and 0 deletions
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src/modules/control_allocator/ControlAllocator.cpp
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@@ -659,6 +659,7 @@ ControlAllocator::get_ice_shedding_output(hrt_abstime now, bool any_upward_motor
|| max_ice_shedding_slewrate < FLT_EPSILON) { || max_ice_shedding_slewrate < FLT_EPSILON) {
// The user has not configured the feature to be turned on, or the config makes no sense // The user has not configured the feature to be turned on, or the config makes no sense
_slew_limited_ice_shedding_output = 0.0f; _slew_limited_ice_shedding_output = 0.0f;
_last_ice_shedding_update = now;
return 0.0f; return 0.0f;
} }
@@ -673,6 +674,7 @@ ControlAllocator::get_ice_shedding_output(hrt_abstime now, bool any_upward_motor
if (!apply_shedding) { if (!apply_shedding) {
_slew_limited_ice_shedding_output = 0.0f; _slew_limited_ice_shedding_output = 0.0f;
_last_ice_shedding_update = now;
return 0.0f; return 0.0f;
} }