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update variable name

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TedObrien 2024-11-19 10:14:26 +00:00 committed by Matthias Grob
parent a70c5e7e35
commit 6e1e2f1a2c
1 changed files with 2 additions and 2 deletions
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src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
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@ -66,7 +66,7 @@ ActuatorEffectivenessHelicopter::ActuatorEffectivenessHelicopter(ModuleParams *p
_param_handles.yaw_ccw = param_find("CA_HELI_YAW_CCW");
_param_handles.spoolup_time = param_find("COM_SPOOLUP_TIME");
_param_handles.linearize_servos = param_find("CA_LIN_SERVO");
_param_handles.max_sevo_throw = param_find("CA_MAX_SVO_THROW");
_param_handles.max_servo_throw = param_find("CA_MAX_SVO_THROW");
updateParams();
}
@ -200,7 +200,7 @@ float ActuatorEffectivenessHelicopter::getLinearServoOutput(float input) const
input = math::constrain(input, -1.0f, 1.0f);
//servo output is calculated by normalizing input to arm rotation of CA_MAX_SVO_THROW degrees as full input for a linear throw
float svo_height = _geometry.max_sevo_height * input;
float svo_height = _geometry.max_servo_height * input;
if (!PX4_ISFINITE(svo_height)) {
svo_height = 0.0f;