From 8a2d2fb1cd66e85abb4ac038ee5fad1ab7748825 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 6 Apr 2023 20:13:03 +0200
Subject: [PATCH] HelicopterCoaxial: only publish unallocated thrust in the
 saturation case

---
 .../ActuatorEffectivenessHelicopterCoaxial.cpp       | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
index abb8351449..213df1e0ad 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
@@ -185,6 +185,9 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
 
 	} else if (_saturation_flags.roll_neg) {
 		status.unallocated_torque[0] = -1.f;
+
+	} else {
+		status.unallocated_torque[0] = 0.f;
 	}
 
 	if (_saturation_flags.pitch_pos) {
@@ -192,6 +195,9 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
 
 	} else if (_saturation_flags.pitch_neg) {
 		status.unallocated_torque[1] = -1.f;
+
+	} else {
+		status.unallocated_torque[1] = 0.f;
 	}
 
 	if (_saturation_flags.yaw_pos) {
@@ -199,6 +205,9 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
 
 	} else if (_saturation_flags.yaw_neg) {
 		status.unallocated_torque[2] = -1.f;
+
+	} else {
+		status.unallocated_torque[2] = 0.f;
 	}
 
 	if (_saturation_flags.thrust_pos) {
@@ -206,5 +215,8 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
 
 	} else if (_saturation_flags.thrust_neg) {
 		status.unallocated_thrust[2] = -1.f;
+
+	} else {
+		status.unallocated_torque[2] = 0.f;
 	}
 }